RU2759492C1 - Method and apparatus for determining time of propagation of acoustic signal between underwater objects - Google Patents

Abstract

FIELD: communication.

SUBSTANCE: area of application: invention relates to the field of hydroacoustic communication, control and navigation and can be used to determine the time of propagation of an acoustic signal between objects separated by an aqueous medium, conducting information exchange of command control signals by the "request-response" system. Substance: the time of propagation of an acoustic signal between underwater objects is determined based on the measurement of the time interval between the transmission of control command signals from the first object wherein the time of propagation is determined to the second object and the reception on the first object of signals of acknowledgement of the reception and execution of the corresponding commands on the second object. The time interval from the moment of the control command signal arriving to the second object to the moment of transmission of the acknowledgement signal from said object is an a priori unknown variable. Sequences of numbered code combinations of block correction codes detecting errors are used as control command signals (A signals) and acknowledgement signals (B signals). A possibility of monitoring the quality of transmission of control command signals in the forward and reverse directions at the first object is additionally implemented in the system for information exchange between objects.

EFFECT: ensured transmission of a signal from the second object not upon receiving the control command signal, but after execution thereof, and elimination of the influence of a priori uncertainty in the estimation of the delay between the arrival of a signal to the second object and the transmission of a response signal from said object to the first object on determining the time of propagation of an acoustic signal between objects.

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Description

The invention relates to the field of hydroacoustic communication, control and navigation and can be used to determine the propagation time of an acoustic signal between objects separated by an aqueous medium, carrying out information exchange of command control signals using the "request-response" system.

первой из последовательности регенерированных кодовых комбинаций сигнала А, полностью совпавшей с ее образом, в введении до передачи сигнала Б на первый объект задержки Т_зад.1, равной разности фиксированного интервала времени Т_А и длительности

кодовых комбинаций сигнала А, отсчитываемой от момента полного совпадения кодовой комбинации с номером

, в продолжении приема сигнала А до его окончания и последовательном определении номеров

всех регенерированных кодовых комбинаций акустического сигнала А, полностью совпавших с их образами, уточнении по каждому последующему совпадению задержки Т_зад.1, отсчитываемой от момента полного совпадения регенерированной кодовой комбинации с номером

, сигнала А с ее образом, соответствующей величине разности фиксированного интервала времени Т_А и длительности

, кодовой комбинации сигнала А, в передаче со второго объекта на первый сигнала Б по истечении задержки Т_зад.1, в определении на первом объекте номера m первой из последовательности регенерированных кодовых комбинаций сигнала Б, полностью совпавшей с ее образом, во введении до окончания приема сигнала Б задержки Т_зад.2, Равной разности фиксированного интервала времени Т_Б и длительности m кодовых комбинаций сигнала Б, отсчитываемой от момента полного совпадения регенерированной кодовой комбинации с номером m сигнала Б с ее образом, в продолжении приема сигнала Б до его окончания и последовательном определении номеров m_j всех регенерированных кодовых комбинаций сигнала Б, полностью совпавших с их образами, в уточнении по каждому последующему совпадению задержки Т_зад.2, отсчитываемой от момента полного совпадения регенерированной кодовой комбинации с номером m_i сигнала Б с ее образом, равной величине разности фиксированного интервала времени Т_Б и длительности т_i кодовой комбинации сигнала Б, в определении на первом объекте по величине задержки Т_зад.2 времени t₂, в расчете времени распространения τ акустического сигнала между объектами по формуле:There is a method [1] for determining the propagation time of an acoustic signal between underwater objects, which consists in transmitting at time t ₁ from the first object to the second acoustic signal A, represented by a sequence of L numbered code combinations composed of code symbols s _a , following with a period T _a , in the reception of signal A at the second object, in the transmission from the second object to the first of the acoustic signal B, represented by a sequence of M numbered code combinations, composed of code symbols s _b , following with a period T _b , in the reception of the acoustic signal B at the first object , in preliminary storing on the first and second objects of the images of the code combinations of acoustic signals B and A, respectively, in the preliminary assignment and storing on the first and second objects of a fixed time interval T _A , greater or equal to the duration of the signal A, corresponding to the time interval from the moment of arrival at second volume ect of signal A until its end and transmission to the first object of signal B, in preliminary assignment and memorization at the first object of a fixed time interval T _B , greater than or equal to the duration of signal B, corresponding to the time interval from the moment signal B arrives at the first object until its end, and obtaining the value of the required propagation time of the acoustic signal between the objects, while the reception of acoustic signals on the first and second objects includes determining the boundaries of the periods T _a and T _{b of the} code symbols s _a and s _b , corresponding to the mathematical expectations of their position, regeneration within these periods of the code symbols s _a and s _b, respectively, in the definition on the second object of the number

the first of the sequence of regenerated code combinations of signal A, which completely coincided with its image, in the introduction before signal B is transmitted to the first object of delay T _{task 1} , equal to the difference between the fixed time interval T _A and the duration

code combinations of signal A, counted from the moment of complete coincidence of the code combination with the number

, in the continuation of receiving signal A until it ends and sequentially determining the numbers

of all regenerated code combinations of the acoustic signal A, completely coinciding with their images, refinement for each subsequent coincidence of the delay T _{task 1} , counted from the moment of complete coincidence of the regenerated code combination with the number

, signal A with its image corresponding to the value of the difference between the fixed time interval T _A and the duration

, the code combination of signal A, in the transmission from the second object to the first signal B after the delay T _task . signal B delay T _{task 2} , Equal difference between the fixed time interval T _B and the duration of m code combinations of signal B, counted from the moment of complete coincidence of the regenerated code combination with the number m of signal B with its image, in the continuation of signal B reception until its end and sequential determining the numbers m _{j of} all the regenerated code combinations of signal B, which completely coincided with their images, in the refinement for each subsequent coincidence of the delay T _{task 2} , counted from the moment of complete coincidence of the regenerated code combination with the number m _{i of} signal B with its image equal to the value of the difference fixed time interval T _B and duration t _i code combination signal B, in determining at the first object by the value of the delay T _{task 2 of the} time t 2, in calculating the propagation time τ of the acoustic signal between the objects according to the formula:

Known device [1] for determining the propagation time of an acoustic signal between underwater objects, containing on the first object, where the determination of the propagation time of the acoustic signal, a control unit, the first transmitter and receiver of acoustic signals, a time interval meter, a signal generator A, a reference signal generator B, the first comparison unit, the first delay unit, the first meter of the boundaries of code symbols, the first regenerator of the code symbols, the calculator, the output of the control unit is connected to the first control input of the time interval meter and the input of the signal generator A, the first output of which is connected to the input of the first transmitter of acoustic signals, the second the output of the signal generator A is connected to the first control inputs of the reference signal generator B and the first comparison unit, the output of the time interval meter is connected to the first input of the first calculator, the first output of the reference signal generator B, and the output of the first code symbol regenerator is connected to the corresponding first and second information inputs of the first comparison unit, the output of the first acoustic signal receiver is connected to the connected together inputs of the first code symbol regenerator and the first code symbol boundaries meter, the output of the latter is connected to the clock inputs of the first code symbol regenerator connected together , the reference signal generator B and the first comparison unit, the output of the first comparison unit is connected to the first input of the first delay unit, the output of the first delay unit is connected to the connected together second control inputs of the time interval meter, the reference signal generator B, the first comparison unit and the second input of the calculator, the output of which serves as the output of the device, the second output of the reference signal generator B is connected to the second input of the first block of the delay, which contains on the second object, to which the propagation time of the acoustic signal is determined signal, the second receiver and transmitter of acoustic signals, the second meter of the boundaries of the code symbols, the second regenerator of the code symbols, the generator of the reference signal A, the second block of comparison, the generator of the signal B, the second block of the delay, the output of the second receiver of the acoustic signals is connected to the inputs of the second meter of the boundaries of the code symbols and the second code symbol regenerator, the output of the second code symbol boundary meter is connected to the clock inputs of the second code symbol regenerator, the reference signal generator A and the second comparison unit, the output of which is connected to the first input of the second delay unit, the second output of the latter is connected to the first input of the generator reference signal A, the output of the second comparison unit is connected to the first input of the second delay unit, the second input of which is connected to the second output of the reference signal generator A, the output of the second delay unit is connected to the input of the reference signal generator A, the output of which is connected to input do the second transmitter of acoustic signals.

The work of the known device [1] consists in the sequential implementation of the following actions and operations.

1. At the first and second objects, the following are preset and memorized: images of code combinations of hydroacoustic signals A and B, a fixed time interval T _A equal to or greater than the duration of signal A and equal to the time interval from the moment signal A arrives at the second object until the end of its reception and transmitting signal B to the first object. Data on the code combinations of signal A are put into the generators of signal A and reference signal A, and about the code combinations of signal B - into the generators of signal B and reference signal B.

_{A fixed time interval T B is set} and stored at the first object, equal to or greater than the duration of signal B and equal to the time interval from the moment the signal B arrives at the first object until the end of its reception and receipt (calculation) of the required propagation time τ of the acoustic signal between the objects.

The values of the fixed time interval T _A are put into the calculator and the second delay block, and the fixed time interval T _{B is} put into the calculator and into the first delay block.

2. The equipment of the first and second objects is randomly placed in the aquatic environment, for example, the equipment of the first object is lowered under water from a surface ship, and the equipment of the second is placed at the bottom.

каждая из которых состоит из кодовых символов s_a (1<а ≤А), следующих с периодом Т_а. При использовании двоичных кодовых символов А=2, кодовые символы s_a принимают значения «0» и «1». Данную операцию выполняют по выходному сигналу блока управления, подаваемому на вход генератора сигнала А.3. At a given time t ₁ , a hydroacoustic signal A is transmitted from the first object to the second, represented by a sequence of L numbered code combinations

each of which consists of code symbols s _a (1 <a ≤A), following with a period of T _a . When using binary code symbols A = 2, the code symbols s _a take the values "0" and "1". This operation is performed on the output signal of the control unit supplied to the input of the signal generator A.

In the signal generator A, signal A is generated, which is emitted by the first acoustic signal transmitter into the aqueous medium in the direction of the second object. At the same time, the output signal of the control unit triggers the time interval meter, which is designed to measure the duration of the time interval between the transmission of signal A from the first object and the reception of signal B from the second object.

At the end of signal A transmission by the signal from the second output of the signal generator A, supplied to the connected together first control inputs of the reference signal generator B and the first comparison unit, the equipment of the first object is prepared to receive signal B from the second object.

4. At the second object, the incoming acoustic signal A is converted into an electrical form, filtered and demodulated. These operations are performed in the second acoustic signal receiver.

5. Determine the time boundaries of the code symbols s _{a of the} signal A. The operation is carried out by means of the second meter of the boundaries of the code symbols, in which the mathematical expectation of the position of the boundaries of the output signals of the second receiver of acoustic signals is determined.

6. The code symbols a _{s of the} received signal A are regenerated. The operation is performed by the second code symbol regenerator within the boundaries of the code symbols according to the output signals of the second meter of the boundaries of the code symbols.

7. The regenerated code combinations obtained from the regenerated code symbols are compared with their images stored in the process of the operation according to claim 1. To do this, for each of the output signals of the second code symbol boundaries meter, the next regenerated code symbol from the output of the second symbol regenerator is introduced into the second comparison block ...

составляющих сигнал А, с эталонным сигналом А, сформированным в генераторе эталонного сигнала А.The second comparison block compares the sequence of regenerated code symbols equal in number of symbols to the length of the numbered code combinations

constituting signal A, with the reference signal A, formed in the generator of the reference signal A.

этой кодовой комбинации, вводят задержку Т_зад.1 до передачи сигнала Б на первый объект, равную разности фиксированного времени Т_А и длительности

кодовых комбинаций сигнала А, отсчитываемую от момента полного совпадения регенерированной кодовой комбинации с номером

сигнала А с ее образом.8. In case of complete coincidence of the first of the sequence of regenerated code combinations of signal A with its image, the number is determined

of this code combination, a delay T _{task 1 is introduced} before signal B is transmitted to the first object, equal to the difference between the fixed time T _A and the duration

code combinations of signal A, counted from the moment of complete coincidence of the regenerated codeword with the number

signal A with its image.

всех регенерированных кодовых комбинаций акустического сигнала А, полностью совпавших с их образами. Уточняют по каждому последующему совпадению длительность задержки Т_зад.1, равную величине разности фиксированного интервала времени Т_А и длительности

кодовой комбинации сигнала А, отсчитываемую от момента полного совпадения регенерированной кодовой комбинации с номером

сигнала А с ее образом:Continue receiving signal A until it ends and sequentially determine the numbers

all regenerated code combinations of acoustic signal A, which completely coincided with their images. For each subsequent coincidence, the duration of the delay T _{task 1 is specified} , equal to the difference between the fixed time interval T _A and the duration

code combination of signal A, counted from the moment of full coincidence of the regenerated codeword with the number

signal A with its image:

where T _kkA is the duration of the code combination of signal A.

соответствующей кодовой комбинации, который используют в первом блоке задержки для задания величины задержки Т_зад.1 в соответствии с выражением (2).The operations are carried out at each full coincidence of the regenerated codeword of signal A with its image by means of generation and delivery by the second comparison unit to the second delay unit of the control signal containing the number

the corresponding code combination, which is used in the first block of the delay to set the amount of delay T _{task 1} in accordance with expression (2).

9. After the delay T, _{task 1 is} generated and transmitted from the second object to the first hydroacoustic signal B, represented by a sequence of M numbered code combinations Q _m (m = 1,2,3, ..., M), each of which consists of code symbols s _b (1 <b * <B), transmitted as part of signal B with period T _b . When using binary code symbols B = 2, the code symbols s _b take the values "0" and "1". These operations are carried out on the output signal of the first delay unit by means of the signal generator B and the second transmitter of acoustic signals.

10. At the first object, operations are carried out to receive signal B, determine the boundaries of the code symbols of signal B, regenerate within the boundaries of the code symbols and compare the regenerated code combinations of signal B with their images. These operations are equivalent to the operations on PP. 4, 5, 6, 7 and they are carried out by means of similar functional units of the first object.

11. When the first of the sequence of regenerated code combinations of signal B completely coincides with its image, the number m of this code combination is _{determined, the delay T task 2 is introduced} , corresponding to the duration of the time interval until the end of signal B reception and the result of determining the propagation time is equal to the difference of the fixed interval time T _B and duration m code combinations of signal B, counted from the moment of complete coincidence of the regenerated code combination with number m of signal B with its image.

Continue receiving signal B until its end and sequentially determine the numbers m _{i of} all regenerated code combinations of acoustic signal B, which completely coincided with their images. For each subsequent match, the duration of the delay T _{task 2} , counted from the moment of the corresponding full coincidence of the regenerated code combinations with the numbers m _{l of the} signal B with their images, is specified, equal to the value of the difference between the fixed time interval T _b and the duration of the m _i code combinations of the signal B:

where T _kkB is the duration of the code combination of signal B.

These operations are carried out at each complete coincidence of the regenerated codeword of signal B with its image by means of generation and submission by the first comparison unit to the first delay unit of a control signal containing the number m _{i of the} corresponding codeword, which is used in the first delay unit to set the delay T _{back. 2} defined by expression (3).

12. The time t 2 corresponding to the delay T _{task 2 is} fixed on the first object, and the propagation time τ of the acoustic signal between the objects is calculated using expression (1). The obtained calculated value of τ is given at the output of the device, as the sought-for propagation time of the acoustic signal between objects, in a form convenient for further use.

These operations are performed according to the output signal of the first delay unit, which is fed to the second input of the calculator and to the connected together second control inputs of the time interval meter, the first comparison unit and the generator of the reference signal B.

From the meter of the time interval, the time difference t ₂ -t _{1 is} transmitted to the calculator, in which, using the durations of the fixed time intervals T _A , T _B , the desired propagation time τ of the acoustic signal between objects is determined, which is sent to the output of the device. Simultaneously with the signal from the output of the first delay block, the first comparison block and the time interval meter are stopped.

Known invention [2], which relates to the field of telecontrol and can be used to build telecontrol equipment with a half-duplex mode of operation, in which individual nodes of the equipment or a communication channel are used alternately for receiving and transmitting, using signals similar in structure to the signals described in 1].

The essence of the invention is as follows.

этой кодовой комбинации в составе сигнала А, в формировании на втором объекте сигнала Б, подтверждающего прием на втором объекте команды управления, в передаче со второго объекта на первый сигнала Б с задержкой Т_зад, равной разности фиксированного промежутка времени Т_А и длительности

кодовых комбинаций сигнала А после приема кодовой комбинации с номером

сигнала А, в приеме и декодировании на первом объекте сигнала Б, использовании декодированного сигнала в качестве сигнала подтверждения приема на втором объекте сигнала команды управления.The method [2] for transmitting control commands between objects separated in space consists in transmitting from the first object to the second signal A, consisting of a sequence of L numbered code combinations corresponding to the transmitted control command, with the transmission of numbers as part of the corresponding code combinations of signal A, in presetting a fixed time interval T _A equal to or greater than the duration of the signal A, in storing on the second object of the signal corresponding to the duration of the time interval T _A , in receiving and decoding the signal A on the second object, in transmission for execution of the control command upon receipt of the first of the code combinations of signal A, in which no errors are detected during decoding, in determining the sequence number

of this code combination as part of signal A, in the formation of a signal B at the second object, confirming the receipt of a control command at the second object, in transmission from the second object to the first signal B with a delay T _back equal to the difference between a fixed time interval T _A and the duration

code combinations of signal A after receiving the code combination with the number

signal A, in receiving and decoding signal B at the first object, using the decoded signal as an acknowledgment signal at the second object of the control command signal.

The device [2] for transmitting control commands contains, on the first object from which control commands are transmitted, the first encoder, the signal transmitter A, the first switch, the signal receiver B connected in series, the second decoder, the input of the first encoder serving as the input of the device, the output of the second the decoder serves as the second output of the device, the input of the signal receiver B is connected to the second output of the first switch, the third output of the first switch, through which bidirectional signal transmission can be carried out, is connected to the communication channel, contains at the second object, to which the control commands are transmitted, connected to the second the output of the second switch, a signal receiver A, a second decoder, a calculator, a controlled delay line, a second encoder and a signal transmitter B, the output of which is connected to the first input of the second switch, the third output of the second switch, through which bidirectional Signal transmission is connected to the communication channel, the second output of the second decoder serves as the first output of the device, from which the control command received and decoded without errors is sent for execution.

The device [2] operates as follows.

When transmitting a control command to the second object, a signal is supplied to the input of the first encoder, which is part of the equipment of the first object, according to which L corresponding numbered code combinations are formed in the first encoder, each of which contains the number assigned to it, the code combinations are fed to signal A transmitter, in it the corresponding signal A is formed, which is fed to the communication channel through the first switch.

Signal A from the communication channel goes to the second switch of the second object, and through it to the input of the signal receiver A, where it is filtered and detected, and then fed to the input of the second decoder, in which the code combinations of signal A are decoded.

декодированной без ошибок кодовой комбинации сигнала А подают на вход вычислителя. Одновременно со второго выхода второго декодера, являющегося первым выходом устройства, выдают на исполнение сигнал, соответствующий принятой команде управления.When a code combination arrives in which no errors are detected by the second decoder, the signal from the first output of the second decoder with the number

The code combination of signal A decoded without errors is fed to the input of the calculator. Simultaneously from the second output of the second decoder, which is the first output of the device, a signal corresponding to the received control command is output for execution.

сигнала А, количественно равной разности продолжительности фиксированного промежутка времени Т_А и длительности

кодовых комбинаций сигнала А:The calculator calculates the delay time T _back. when transmitting signal B to the first object after receiving a code combination with a number

signal A, quantitatively equal to the difference between the duration of a fixed time interval T _A and the duration

code combinations of signal A:

where T _kk (i) is the duration of the code combination with the serial number i in the signal A.

At the output of the controlled delay line, a signal is generated with the delay time T _back calculated in the calculator for the second encoder and the signal transmitter B, where the confirmation signal is generated, which is fed through the second switch to the communication channel.

Signal B enters the first switch of the first object, through it to the input of the signal receiver B, where it is filtered and detected, and then fed to the input of the second decoder, where signal B is decoded.

From the output of the second decoder, which is the second output of the device, a corresponding acknowledgment signal is issued at the second object of the control command.

It should be noted the similarity of technical solutions of inventions [1] and [2]. In both cases, the objects exchange signals consisting of "a sequence of numbered code combinations", the numbers of the code combinations are transmitted as part of them, these code combinations are code combinations of a correction code that detects errors. In the invention [2], this is noted directly in the description, and in the invention [1], the validity of this statement is confirmed by phrases from the description that in the process of receiving signals, “the number of the first of the sequence of regenerated signal code combinations ... is determined, which completely coincided with its image” ...

Subsequent actions under the patent [1] are carried out only on condition of receiving a code combination undistorted by interference (code combination without errors). If there are errors in the code combination, it does not match its image and is ignored (erased). In other words, the operation of determining "the number of the first of the sequence of regenerated signal code combinations ..., which completely coincided with its image" in [1] turns out to be the full equivalent of the operation of decoding the code combination of the correction code without detecting errors in [2]. As a result of decoding without errors, the information part of the code combination is output at the output of the decoder, in this case, its sequence number. Therefore, the reference signal generator A and the second comparator at the second object, see FIG. 2 [1], can be replaced by one signal decoder block A. Accordingly, the reference signal generator B and the first comparison block on the first object, see FIG. 1 [1], can be replaced by one signal decoder block B.

In this case, it is advisable to require that:

- signals of several control commands and the corresponding number of receipt signals could be used as signals A and B;

- the number of control command signals transmitted from the first object to the second was equal to K;

- recognition of control command signals was carried out by their identifiers k (1≤ <k≤K);

- control command identifiers were transmitted in numbered code combinations that make up signal A;

- the number of receipt signals transmitted from the second object to the first one corresponded to the number of used control commands and was also equal to K;

- the recognition of the receipt signals was carried out by their identifiers k (1≤k <K), corresponding to the identifiers k of the control command signals, in response to which these receipts are transmitted;

- receipts identifiers were transmitted in numbered code combinations that make up signal B;

- the result of determining the propagation time of the acoustic signal between underwater objects and other information obtained at the first object as a result of receiving signal B should be displayed (documented) in the information display unit.

Taking these requirements into account, on the basis of technical solutions [1, 2], a prototype method and a prototype device for determining the propagation time of an acoustic signal between underwater objects have been synthesized.

A prototype method for determining the propagation time of an acoustic signal between underwater objects, which consists in transmitting at some point in time t ₁ , from the first object to the second, an acoustic signal A, in receiving an acoustic signal A at the second object, in transmitting an acoustic signal B from the second object to the first , receiving an acoustic signal B at the first object, using control command signals as an acoustic signal A, represented by a sequence of L numbered code combinations, consisting of code symbols s _a , following with a period T _a , using receipt signals as an acoustic signal B on the reception at the second object of control commands, represented by a sequence of M numbered code combinations, consisting of code symbols s _b , following with a period of T _b and

первой кодовой комбинации из последовательности всех регенерированных кодовых комбинаций сигнала А, декодирование которой прошло без обнаружения ошибок, в передаче на исполнение команды управления, идентификатор которой k содержится в кодовой комбинации с номером

сигнала А, во введении задержки Т_зад.1, равной разности фиксированного интервала времени Т_А и длительности

кодовых комбинаций сигнала А, отсчитываемой от момента завершения декодирования кодовой комбинации с номером

в продолжении приема сигнала А до его окончания и последовательном определении номеров

всех регенерированных кодовых комбинаций сигнала А, декодирование которых прошло без обнаружения ошибок, в уточнении по каждому последующему декодированию кодовых комбинаций сигнала А без обнаружения ошибок длительности задержки Т_зад.1, равной разности фиксированного интервала времени Т_А и длительности

кодовых комбинаций сигнала А, отсчитываемой от момента завершения декодирования кодовой комбинации с номером

в передаче со второго объекта на первый акустического сигнала Б по истечении задержки Т_зад.1, в определении на первом объекте номера m первой кодовой комбинации из последовательности всех регенерированных кодовых комбинаций сигнала Б, декодирование которой прошло без обнаружения ошибок, во введении задержки Т_зад.2, равной разности фиксированного интервала времени Т_Б и длительности m кодовых комбинаций сигнала Б, отсчитываемой от момента завершения декодирования кодовой комбинации с номером m, в выделении из декодированной кодовой комбинации с номером m сигнала Б идентификатора команды управления k, принятой к исполнению на втором объекте, в отображении идентификатора k в виде, пригодном для восприятия и использования, в продолжении приема сигнала Б до его окончания и последовательном определении номеров m_i всех регенерированных кодовых комбинаций сигнала Б, декодирование которых прошло без обнаружения ошибок, в уточнении по каждому последующему декодированию без обнаружения ошибок длительности задержки Т_зад.2, равной разности фиксированного интервала времени Т_Б и длительности m_i кодовых комбинаций сигнала Б, в фиксации на первом объекте времени t₂, по истечении задержки Т_зад2, в расчете времени распространения τ акустического сигнала между объектами с использованием значений времен t₁, t₂ и длительностей фиксированных интервалов времени Т_А и Т_Б, в отображении значения времени распространения τ акустического сигнала между объектами в пригодном для использования виде. Расчет времени распространения акустического сигнала τ между подводными объектами выполняется с использованием соотношения (1).containing in each of the code combinations of signals A and B the number of the code combination in the sequence and the identifier of the control command k, in pre-selection and storage on the first and second objects of a fixed time interval T _A , greater or equal to the duration of signal A and corresponding to the time interval from the moment of arrival to the second object of signal A until the end of signal A and transmission of signal B to the first object, in the preliminary selection and memorization on the first object of a fixed time interval T _B , greater or equal to the duration of signal B and corresponding to the time interval from the moment when signal B arrives at the first object to the end of signal B and obtaining the value of the required propagation time of the acoustic signal between the objects, and the reception of acoustic signals at the second and first objects includes converting signals into an electrical form, filtering and demodulating them, determining the position of the time boundaries of the periods T _a and T _b ko new symbols, regeneration of code symbols in the code combinations of signals A and B, respectively, in determining the number on the second object

the first codeword out of the sequence of all regenerated codewords of signal A, the decoding of which passed without error detection, in the transmission for execution of the control command, the identifier of which k is contained in the codeword with the number

signal A, in the introduction of the delay T _{task 1} , equal to the difference between the fixed time interval T _A and the duration

code combinations of signal A, counted from the moment of completion of decoding of the code combination with the number

in the continuation of receiving signal A until it ends and sequentially determining the numbers

of all regenerated code combinations of signal A, decoding of which passed without error detection, in refinement for each subsequent decoding of signal A code combinations without detection of errors delay duration T _{task 1} , equal to the difference between a fixed time interval T _A and duration

code combinations of signal A, counted from the moment of completion of decoding of the code combination with the number

in the transmission from the second object to the first acoustic signal B after the delay T _{task 1} , in the determination of the number m of the first code combination on the first object from the sequence of all regenerated code combinations of signal B, the decoding of which passed without detecting errors, in the introduction of the delay T _{back. 2} , equal to the difference between a fixed time interval T _B and the duration m of the code combinations of signal B, counted from the moment of completion of decoding of the code combination with the number m, in the selection from the decoded codeword with the number m of the signal B of the identifier of the control command k received for execution at the second object , in the display of the identifier k in a form suitable for perception and use, in the continuation of signal B reception until its end and the sequential determination of the numbers m _{i of} all regenerated code combinations of signal B, the decoding of which passed without detecting errors, in the refinement for each subsequent decoding without detection wrong to the duration of the delay T _{set 2} , equal to the difference between the fixed time interval T _B and the duration m _{i of the} code combinations of the signal B, in fixing the time t ₂ on the first object, after the delay T _{back 2} , in calculating the propagation time τ of the acoustic signal between the objects using values of times t ₁ , t ₂ and durations of fixed time intervals T _A and T _B , in displaying the value of the propagation time τ of the acoustic signal between objects in a form suitable for use. The calculation of the propagation time of an acoustic signal τ between underwater objects is performed using relation (1).

The prototype device for determining the propagation time of an acoustic signal between underwater objects contains on the first object: a serially connected control unit, a signal generator A and a first acoustic signal transmitter, a first acoustic signal receiver connected in series, a first code symbol regenerator and a first decoder, and a first boundary meter code symbols, the first delay unit, serially connected time interval meter, the first calculator, an information display unit, the output of which serves as the output of the device, the input of the device is the input of the control unit, while the input of the first meter of the boundaries of code symbols is connected to the output of the first receiver of acoustic signals, the output the first meter of the boundaries of code symbols is connected to the clock inputs of the first regenerator of code symbols and the first decoder connected together, the first output of the first decoder is connected to the first input of the first delay unit and the second input information display unit, the second output of the first decoder is connected to the second input of the first delay unit, the third output of the first decoder is connected to the third input of the information display unit, the second output of the signal generator A is connected to the first control input of the first decoder, the second control input of the first decoder together with the second control the inputs of the first calculator and the time interval meter are connected to the output of the first delay unit; the first control input of the time interval meter is connected to the output of the control unit; contains on the second object: a second receiver of acoustic signals connected in series, a second regenerator of code symbols and a second decoder, a second delay unit connected in series, a signal generator B and a second transmitter of acoustic signals, as well as a second meter of the boundaries of code symbols, the input of which is connected to the output of the second receiver acoustic signals, the output of the second meter of the boundaries of code symbols is connected to the clock inputs of the second regenerator of code symbols and the second decoder connected together, the first and second outputs of the second decoder are connected to the first and second inputs of the second delay unit, the third output of the second decoder is connected to the second input of the signal generator B and serves as an output of the device of the second object, from which the received control command is transmitted for execution.

The prototype device operates as follows.

1. Pre-select and set the structure of hydroacoustic signals A and B, which are control signals that objects exchange with each other and are simultaneously used to determine the propagation time of an acoustic signal between underwater objects.

As numbered codewords transmitted as part of signals A and B, code combinations of block correcting (n, q) codes that detect errors are used, here n is the length of the codeword, q is the number of information symbols in the codeword.

As signal A, control command signals transmitted from the first object to the second are used. The number of information symbols transmitted as part of each of the numbered code combinations of signal A is determined by the number of control commands K, which is supposed to be transmitted from the first object, and the number of code combinations L that make up signal A. the value of the probability of receiving the control command signal at the second object with the probability of undetected error P _but .

The probability P _but depends on the average probability of receiving a code symbol with an error p, caused by the effect of noise on the signal in the communication channel, and the value of the minimum code distance d between the code combinations of the selected code.

All errors, the multiplicity of which does not exceed the value (d-1), are guaranteed to be detected by the code. Code combinations in which errors are detected are discarded (erased). The probability of erasing code combinations P _st >> P _but that

allows us to take as an estimate of the probability of erasure the value P _st ≈ 1 - (1 - p) ⁿ .

With an increase in the erasure probability, the probability of decoding the codeword without error detection decreases. An increase in the probability P _{PR of} decoding the control command codeword without detecting errors on the second object is achieved by transmitting the corresponding numbered codewords as part of the signal A without interruption L. Signal A is considered received if, when decoding its code combinations, at least one of them does not contain errors. Estimation of the probability of correct reception of the command signal

control, without detecting errors, in this case the quantity

The choice of a specific type of correcting code for transmitting control commands to the second object can be carried out according to the materials [3].

The choice and setting of the structure of the hydroacoustic signal B, which is used as receipt signals, transmitted from the second object to the first, is carried out in a similar way. The number of information symbols in the composition of the code combinations is determined by the number of used receipt signals K and the number of code combinations M in the composition of the signal B.

Due to the spatial separation of the first and second objects, the noises acting on the inputs of their receivers may have different statistical characteristics. For this reason, for the transmission of signals A and B, code combinations of different block codes can be used, in which the code symbols s _a and s _b may differ from each other, and the periods T _a and T _{b of the} following code symbols s _a and s may also differ. _b as part of the code combinations of signals A and B, respectively.

Data on the structure of the hydroacoustic signal A, including information on the type of block correction code used, code symbols s _a , their repetition period T _a , the number of numbered code combinations L, the number of control commands K transmitted to the second object, are stored in the corresponding form on the first object in the signal generator A and in the first transmitter of acoustic signals, at the second object - in the second receiver of acoustic signals, the second regenerator of the code symbols, the second decoder, the second meter of the boundaries of the code symbols and the second block of the delay.

Data on the structure of the hydroacoustic signal B, including information on the type of the applied block correcting code, code symbols s _b , their repetition period T _b , the number of numbered code combinations M, the number of control commands K transmitted to the first object, are stored in the corresponding form on the second object in the signal generator B and the second transmitter of acoustic signals, and at the first object - in the receiver of acoustic signals, the first delay unit, the first decoder, the first regenerator of code symbols, the first meter of the boundaries of the code symbols and the first calculator.

2. Preselect and store in the appropriate form on the first and second objects a fixed time interval T _A , greater than or equal to the duration of the signal A and corresponding to the time interval from the moment the signal A arrives at the second object until its end and transmission to the first object of the signal B; _{a fixed time interval T B is} selected and stored in the appropriate form on the first and second objects, which is greater than or equal to the duration of signal B and corresponding to the time interval from the moment the signal B arrives at the first object until its end and the value of the required propagation time of the acoustic signal between the objects is obtained.

The value of the fixed time interval T _{A is} stored on the first object in the first calculator, on the second object - in the second delay unit. The value of a fixed time interval T _{B is} stored on the first object in the first block

delay and the first calculator.

3. The equipment of the first and second objects is randomly placed in the aquatic environment, for example, the equipment of the first object is lowered under the water from the surface ship, and the equipment of the second is placed at the bottom.

4. When an external signal is received at the input of the control unit, which is the input of the device, about the transfer to the second object of the control command with the identifier k, the output signal of the control unit supplied to the first control input of the time interval meter and to the input of the signal generator A at time t ₁ , carry out their simultaneous inclusion.

каждая из которых состоит из кодовых символов s_a (1<а≤А), следующих с периодом Т_а. При использовании, например, двоичных кодовых символов А=2, кодовые символы s_a принимают значения «0» или «1».In the time interval meter, the time starts counting until the receipt of the receipt signal from the second object, and in the signal generator A, using the received identifier k of the control command to be transmitted, signal A is generated, formed by a sequence of L numbered code combinations

each of which consists of code symbols s _a (1 <a≤A), following with a period of T _a . When using, for example, binary code symbols A = 2, the code symbols s _a take on the values "0" or "1".

Signal A, converted by the first acoustic signal transmitter into an acoustic form, is emitted into the aqueous medium in the direction of the second object.

Upon completion of the formation and transmission of signal A, the signal from the second output of the signal generator A, arriving at the first control input of the first decoder, turns on the first decoder, preparing the equipment of the first object to receive signal B from the second object.

5. At the second object, the incoming acoustic signal A is converted into an electrical form, filtered and demodulated. These operations are performed in the second acoustic signal receiver.

6. Determine the time boundaries of the periods T _{a of the} code symbols of the signal A at the second object. The operation is carried out by means of the second meter of the boundaries of the symbols, made in the form of a phase-locked loop [4]. The time points corresponding to the mathematical expectation of the position of these boundaries are taken as the boundaries of the periods T _{a of the code symbols of the signal A [1].}

7. In the second regenerator code symbols from the output signals of the second receiver of acoustic signals inside the resulting operations by n. 6 boundaries periods T _and obtained regenerated code symbols s _a and transmitting them to the second decoder.

8. Each of the regenerated code symbols transmitted to the second decoder together with the sequence of n-1 preceding regenerated code symbols is presented in the decoder as a regenerated correction code combination that is subjected to decoding. If errors are detected during decoding of this codeword, then when the next regenerated code symbol arrives at the input of the second decoder, the decoding operation is repeated for a new, shifted by one code symbol, regenerated codeword. The execution of the decoding operation is repeated in the decoder with a period T _a constantly - until the end of the signal A.

этой кодовой комбинации, на третьем выходе, соединенном со вторым входом генератора сигнала Б, - сигнал-идентификатор k принятой команды управления.If no errors are detected during decoding of the regenerated codewords in one or more of them, then for each case of decoding without error detection at the output of the second decoder, corresponding information and control signals are given, extracted from the corresponding codeword of signal A (control commands). When decoding the first codeword of signal A without error detection, three signals are generated at the first, second and third outputs of the second decoder: at the first output connected to the first input of the second delay block, a signal indicating decoding of the codeword without error detection, at the second output, connected to the second input of the second delay unit, - signal-number

This code combination, at the third output connected to the second input of the signal generator B, is the identifier signal k of the received control command.

записывают во второй блок задержки, одновременно идентификатор k принятой команды управления записывают в генератор сигнала Б и выдают команду управления с идентификатором k на исполнение. Во втором блоке задержки рассчитывают, в соответствии с выражением (2), и запоминают время задержки Т_зад.1 до окончания сигнала А и начала передачи от второго объекта сигнала Б, отсчитываемое от момента окончания кодовой комбинации с номером

On the signal from the first output of the second decoder to decode the first codeword without detecting errors, its number is

are written into the second delay unit, at the same time the identifier k of the received control command is written into the signal generator B and the control command with the identifier k is issued for execution. In the second block, the delays are calculated, in accordance with expression (2), and the delay time T _{task 1 is stored} until the end of signal A and the start of transmission from the second object of signal B, counted from the end of the code combination with the number

всех регенерированных кодовых комбинаций сигнала А, при декодировании которых не обнаружено ошибок, уточняют по каждому последующему декодированию без обнаружения ошибок длительность задержки Т_зад.1, равную разности фиксированного интервала времени Т_А и длительности

кодовых комбинаций сигнала А, отсчитываемую от момента завершения декодирования кодовой комбинации с номером

. Данные операции выполняют во втором блоке задержки по мере поступления на его первый и второй входы соответствующих сигналов с первого и второго выходов второго декодера.9. Continue receiving signal A until it ends and sequentially determine the numbers

of all regenerated code combinations of signal A, during the decoding of which no errors were detected, the duration of the delay T _{task 1} , equal to the difference between the fixed time interval T _A and the duration

code combinations of signal A, counted from the moment of completion of decoding of the code combination with the number

... These operations are performed in the second delay unit as the corresponding signals from the first and second outputs of the second decoder arrive at its first and second inputs.

Continuation of signal A reception until its end, as shown in [1], increases the accuracy of determining the position of the boundaries of the code symbols s _a and, accordingly, increases the accuracy in specifying the start of transmission from the second object of the signal B.

10. After the delay time T, _{task 1, the} signal from the output of the second delay unit is fed to the second input of the signal generator B, where signal B is generated, formed by a sequence of M numbered code combinations Q _m (m = 1,2,3, ..., M ), each of which consists of code symbols s _b (1≤b≤B), transmitted as part of signal B with a period of T _b . When using binary code symbols B = 2, the code symbols s _b take the values "0" and "1".

11. The generated signal B is fed to the input of the second acoustic signal transmitter, where it is converted into an acoustic form and radiated into the aquatic environment in the direction of the first object.

12. At the first object, using the first acoustic signal receiver, the incoming acoustic signal B is converted into an electrical form, filtered and demodulated.

13. Determine the time boundaries of the code symbols of the signal B and regenerate the code symbols s _b . The operations are carried out similarly to item 6 and item 7 by means of the first meter of the position of the boundaries of the code symbols and the first regenerator of the code symbols.

14. The regenerated code symbols s _{b are} sequentially transmitted to the first decoder. Each of the regenerated code symbols together with the sequence of n-1 preceding regenerated code symbols is presented in the decoder as a regenerated codeword, which is subjected to decoding in the same way as it is performed on the second object.

15. When decoding the first codeword of signal B without detecting errors, three signals are generated at the first, second and third outputs of the first decoder: at the first output connected to the first input of the first delay unit and the second input of the information display unit, a signal indicating the decoding of the codeword without error detection, at the second output, connected to the second input of the first delay unit, is the signal number m of this code combination, at the third output connected to the third input of the information display unit, is the identifier signal to the control command received at the second object for execution ...

In the first block, the delays are calculated, in accordance with expression (3), and the delay time until the end of signal B is stored, equal to the difference between the fixed time interval T _B and the duration m of the code combinations of signal B, counted from the moment of completion of the code combination with number m.

16. Continue receiving signal B until its end and sequentially determine the numbers m _{i of} all regenerated code combinations of signal B, during the decoding of which no errors were detected; for each subsequent decoding without detecting errors, the duration of the delay T _{task 2 is specified} , equal to the difference between the fixed time interval T _B and the duration m _{i of the} code combinations of the signal B, counted from the moment of completion of the code combination with the number t _i . These operations are performed in the first delay block as the corresponding signals from the first and second outputs of the first decoder arrive at its first and second inputs.

Continuation of signal B reception until its end, increases the accuracy of determining the position of the boundaries of the code symbols s _b and, accordingly, increases the accuracy in determining the end of the fixed time interval T _B [1].

17. Upon expiration of the delay T _{task 2, the} output signal of the first delay block supplied to the second control inputs of the first decoder, the time interval meter and to the second input of the first calculator turns off the first decoder, stops the time interval meter, fixing the time t _{2 of} its stopping. The duration of the time interval t ₂ -t ₁ from the output of the meter of the time interval is transmitted to the first calculator.

18. In the first calculator, in accordance with expression (1), the required propagation time τ of the acoustic signal between underwater objects is calculated.

19. The calculated value of the propagation time τ is transmitted from the first calculator to the information display unit, in which it, together with the identifier k of the control command received for execution on the second object, is displayed in a form suitable for subsequent use.

The prototype method and the prototype device have limited functionality, manifested in the fact that the transmission of signal B from the second object to the first, which is a receipt signal, is carried out upon receipt of a control command signal at the second object, as is implemented in [2].

первой из составляющих сигнал А кодовых комбинаций, декодирование которой прошло без обнаружения ошибок, оно может выходить за пределы задержки Т_зад.1. На фиг. 1 в качестве иллюстрации приведены временные диаграммы, поясняющие зависимость времени начала передачи сигнала Б, с учетом затрат времени Т_исп на исполнение команды управления на втором объекте, от номера

первой из четырех кодовых комбинаций, составляющих сигнал А, декодированной без обнаружения ошибок.However, from the standpoint of practical application, the transmission of signal B from the second object to the first one upon the fact of execution of the received control command is more informative. It should be borne in mind that the time allotted for the execution of individual control commands transmitted to the second object can be quite long, and depending on the sequence number

the first of the code combinations constituting the signal A, the decoding of which was passed without error detection, it can go beyond the delay T _task . 1. FIG. 1, as an illustration, timing diagrams are shown that explain the dependence of the time of the start of signal transmission B, taking into account the time T _isp spent on executing the control command at the second object, on the number

the first of the four codewords constituting signal A, decoded without error detection.

Diagrams a) and b) show the cases in which the first code combinations with numbers “1” and “2” to be decoded without detecting errors in the signal A are. In these cases, the execution of the received control command ends before

the end of the fixed time interval T _A and the beginning of signal transmission B from the second object coincides with the end of the time interval T _A.

Diagrams c) and d) show the cases in which the first code combinations with numbers "3" and "4" to be decoded without detecting errors in the signal A are. In these cases, the execution of the received control command ends after the end of the fixed time interval T _A with an additional delay T _Δ .

To prevent the transmission of signal B until the completion of the execution of the received control command, it is necessary to increase the duration of the fixed time interval T _A [5] to a value that satisfies the condition:

where T _kkA - the duration of the code combinations in the signal A; T _isp is the time interval for the execution of the received control command at the second object.

первой из кодовых комбинаций, составляющих сигнал А, декодированной без обнаружения ошибок, приводит к неоправданному увеличению среднего времени управления в системе, что в ряде случаев является нежелательным.A similar solution associated with an increase in the fixed time interval T _A to a value satisfying condition (5), regardless of the number

the first of the code combinations that make up the signal A, decoded without error detection, leads to an unjustified increase in the average control time in the system, which in some cases is undesirable.

In this case, the control time t _y is understood [6] as the time interval counted from the moment a decision is made at the first object about the need to change the operating mode of the second object, until the receipt of a message at the first object about a corresponding change in its operating mode.

With regard to the transmission of control signals in the prototype, the control time is determined by summing: the duration of the control command signal transmitted from the first object to the second, the propagation time of the acoustic signal from the first object to the second, the time spent on receiving the control command signal at the second object, the duration of the time interval from the moment reception of the control command signal until the transmission from the second object to the first signal of the corresponding receipt, the duration of the receipt signal, the propagation time of the acoustic signal from the second object to the first, the time spent on receiving the receipt signal at the first object.

All other things being equal, a decrease in the average value of the control time can be obtained by reducing the average value of the time interval from the arrival of the control command signal to the second object until the transmission of the corresponding receipt signal from it.

, для которых выполняется условие:This effect can be achieved if, when decoding the control command signal (signal A), no errors in code combinations with small numbers are found.

for which the condition is satisfied:

then the transmission of signal B starts after the delay T _{task 1} , if condition (6) is not met, then the transmission of signal B from the second object starts with an additional delay by the amount of T _Δ :

as shown in figure 1 - diagrams c) and d).

первой из кодовых комбинаций сигнала команды управления (сигнала А), в которой при декодировании не обнаруживается ошибок.This leads to ambiguity in specifying the delay between the arrival of signal A to the second object and the transmission from it to the first object of the response signal B. The value of the delay is a priori unknown. It is a consequence of the effect of interference on signal A in the communication channel and manifests itself in the form of a priori uncertainty in determining the number

the first of the code combinations of the control command signal (signal A), in which no errors are detected during decoding.

Thus, the prototype method and the prototype device have a disadvantage associated with the fact that the signal is transmitted from the second object to the first one upon receipt of a control command signal at the second object, and not upon its execution, while there is a priori ambiguity in setting the delay between the arrival of the signal to the second object and the transmission from it to the first object of the response signal, which affects the accuracy of determining the propagation time of the acoustic signal between the objects.

The technical result of the proposed method and device is the transmission of a signal from the second object not upon receipt of the control command signal, but after its execution, and elimination of the influence on the determination of the propagation time of the acoustic signal between objects of a priori uncertainty in the estimation of the delay between the arrival of the signal to the second object and the transmission from it to the first object of the response signal.

This technical result is achieved by the fact that in the method for determining the propagation time of an acoustic signal between underwater objects, which consists in transmitting at some point in time t ₁ from the first object to the second acoustic signal A and receiving it at the second object, in transmitting the acoustic signal B from the second object and its reception at the first object, in the use of control command signals as an acoustic signal A, represented by a sequence of L numbered code combinations, consisting of code symbols s _a , following with a period of T _a , in use as an acoustic signal B of receipt signals about reception on the second object of control commands represented by a sequence of M numbered code combinations consisting of code symbols s _b , following with a period T _b , containing in each of the code combinations of signals A and B the number of this code combination in the sequence and the identifier k of the control command, before selective selection and memorization on the first and second objects of a fixed time interval T _A , greater or equal to the duration of signal A and corresponding to the time interval from the moment signal A arrives at the second object until its end and transmission to the first object of signal B, in preliminary selection and memorization on the first object of a fixed time interval T _B , greater or equal to the duration of the signal B and corresponding to the time interval from the moment the signal B arrives at the first object until its end and the value of the desired propagation time of the acoustic signal between the objects is obtained, and the reception of signals at the second and first objects includes transformation of acoustic signals into electrical form, their filtering and demodulation, determination of the boundaries of the periods T _a and T _{b of} code symbols, regeneration of code symbols in code combinations

первой кодовой комбинации из последовательности всех регенерированных кодовых комбинаций сигнала А, декодирование которой прошло без обнаружения ошибок, в передаче на исполнение команды управления, идентификатор которой содержится в кодовой комбинации с номером

сигнала А, во введении задержки Т_зад.1, равной разности фиксированного интервала времени Т_А и длительности

кодовых комбинаций сигнала А, отсчитываемой от момента окончания кодовой комбинации с номером

в продолжении приема сигнала А до его окончания и последовательном определении номеров

всех регенерированных кодовых комбинаций сигнала А, декодирование которых прошло без обнаружения ошибок, в уточнении по каждому последующему декодированию кодовых комбинаций сигнала А без обнаружения ошибок длительности задержки Т_зад.1, равной разности фиксированного интервала времени Т_л и длительности

кодовых комбинаций сигнала А, отсчитываемой от момента окончания кодовой комбинации с номером

, в передаче со второго объекта на первый акустического сигнала Б по истечении задержки Т_зад.1, в определении на первом объекте номера m первой кодовой комбинации из последовательности всех регенерированных кодовых комбинаций сигнала Б, декодирование которой прошло без обнаружения ошибок, во введении задержки Т_зад.2, равной разности фиксированного интервала времени Т_Б и длительности m кодовых комбинаций сигнала Б, отсчитываемой от момента окончания кодовой комбинации с номером m, в выделении из декодированной кодовой комбинации с номером m сигнала Б идентификатора k команды управления, принятой к исполнению на втором объекте, в отображении идентификатора k в виде, пригодном для восприятия и использования, в продолжении приема сигнала Б до его окончания и последовательном определении номеров m, всех регенерированных кодовых комбинаций сигнала Б, декодирование которых прошло без обнаружения ошибок, в уточнении по каждому последующему декодированию без обнаружения ошибок кодовых комбинаций сигнала Б задержки Т_зад.2 равной разности фиксированного интервала времени Т_Б и длительности m_i кодовых комбинаций сигнала Б, отсчитываемой от момента окончания кодовой комбинации с номером m_i, в фиксации на первом объекте времени t₂ по истечении задержки Т_зад.2, предварительно определяют и запоминают на первом и втором объектах массив K всех команд управления, используемых в качестве сигнала А, состоящий из идентификаторов k этих команд управления и длительностей интервалов времени Т_исп (k), обеспечивающих гарантированное исполнение соответствующих команд управления на втором объекте, запоминают на втором объекте номер

первой кодовой комбинации из последовательности всех регенерированных кодовых комбинаций сигнала А, при декодировании которой не обнаружено ошибок, фиксируют факт и момент исполнения команды управления на длительности соответствующего временного интервала Т_исп (k), отведенного на исполнение команды управления, идентификатор которой k принят в составе указанной кодовой комбинации с номером

сравнивают длительность временного интервала Т_исп (k) с длительностью задержки Т_зад.1, равной разности фиксированного интервала времени Т_А и длительности

кодовых комбинаций сигнала А, отсчитываемой от момента окончания кодовой комбинации с номером

при превышении временного интервала Т_исп(k) длительности задержки Т_зад.1 рассчитывают и запоминают их разность T_Δ, в случае, когда длительность временного интервала Т_исп (k) не превышает длительности задержки Т_зад.1 принимают и запоминают T_Δ=0, по истечении задержки Т_зад.1 вводят дополнительную задержку в передачу сигнала Б на величину T_Δ, хранящуюся в памяти, по истечении дополнительной задержки, проверив факт исполнения принятой команды управления, формируют сигнал квитанции, состоящий из последовательности пронумерованных кодовых комбинаций, каждая из которых содержит идентификатор k принятой команды управления, признак j исполнения/неисполнения на втором объекте команды управления и номер

первой кодовой комбинации из последовательности всех регенерированных кодовых комбинаций сигнала А, декодирование которой прошло без обнаружения ошибок, излучают в водную среду в направлении первого объекта сформированный сигнал квитанции в виде акустического сигнала Б, на первом объекте осуществляют прием сигнала Б, запоминают номер m первой кодовой комбинации, из последовательности всех регенерированных кодовых комбинаций сигнала Б, декодирование которой прошло без обнаружения ошибок, выделяют и запоминают из этой кодовой комбинации информацию об идентификаторе k принятой на втором объекте команды управления, номере

первой кодовой комбинации, из последовательности всех регенерированных кодовых комбинаций сигнала А, при декодировании которой не обнаружено ошибок, признаке j исполнения/неисполнения команды управления, определяют факт передачи от второго объекта сигнала Б с дополнительной задержкой T_Δ>0 и длительность этой дополнительной задержки T_Δ, для этого с использованием хранящейся в памяти выделенной из кодовой комбинации с номером m сигнала Б информации об идентификаторе k принятой на втором объекте команды управления, номере

первой кодовой комбинации, из последовательности всех регенерированных кодовых комбинаций сигнала А, декодирование которой прошло без обнаружения ошибок, считывают из памяти и сравнивают длительность временного интервала Т_исп (k), отведенного на исполнение команды управления с идентификатором k, с разностью фиксированного интервала времени Т_А и длительности

кодовых комбинаций сигнала А, превышение длительности временного интервала Т_исп (k) разности фиксированного интервала времени Т_А и длительности

кодовых комбинаций сигнала А, является признаком передачи от второго объекта сигнала Б с дополнительной задержкой T_Δ>0, величина которой равна разности временного интервала Т_исп (k) и разности фиксированного интервала времени Т_А, уменьшенного на длительность

кодовых комбинаций сигнала А, при не обнаружении признака передачи от второго объекта сигнала Б с дополнительной задержкой принимают и запоминают длительность дополнительной задержки T_Δ=0, используют длительность дополнительной задержки T_Δ при расчете времени распространения τ акустического сигнала между объектами по правилу: т=0.5(t₂ -t₁ -Т_А -Т_Б -T_Δ), отображают искомое значение времени распространения акустического сигнала между объектами в виде, пригодном для последующего использования.signals A and B, respectively, in determining the numbers on the second object

the first codeword from the sequence of all regenerated codewords of signal A, the decoding of which passed without error detection, in the transmission for execution of the control command, the identifier of which is contained in the codeword with the number

signal A, in the introduction of the delay T _{task 1} , equal to the difference between the fixed time interval T _A and the duration

code combinations of signal A, counted from the moment of the end of the code combination with the number

in the continuation of receiving signal A until it ends and sequentially determining the numbers

of all regenerated code combinations of signal A, decoding of which passed without error detection, in refinement for each subsequent decoding of signal A code combinations without detection of errors delay duration T _{task 1} , equal to the difference between a fixed time interval T _l and duration

code combinations of signal A, counted from the moment of the end of the code combination with the number

, in the transmission from the second object to the first acoustic signal B after the delay T _{task 1} , in the determination on the first object of the number m of the first code combination from the sequence of all regenerated code combinations of signal B, the decoding of which took place without detecting errors, in the introduction of the delay T _{back .2} , equal to the difference between a fixed time interval T _B and the duration m code combinations of signal B, counted from the end of the code combination with number m, in the selection from the decoded code combination with number m of signal B of the identifier k of the control command received for execution at the second object , in the display of the identifier k in a form suitable for perception and use, in the continuation of signal B reception until its end and the sequential determination of the numbers m, of all regenerated code combinations of signal B, the decoding of which passed without detection of errors, in the refinement for each subsequent decoding without detection code comb errors signal B of delay T _{set 2} equal to the difference between the fixed time interval T _B and the duration m _{i of the} code combinations of signal B, counted from the end of the code combination with the number m _i , in fixation on the first object of time t ₂ after the delay T _{set 2} , the array K of all control commands used as signal A is pre-determined and stored on the first and second objects, consisting of the identifiers k of these control commands and the durations of the time intervals _Tsp (k), ensuring the guaranteed execution of the corresponding control commands on the second object, are stored on the second object number

the first codeword in the sequence of the recovered codewords signal A, during decoding wherein no error, fix the fact and the time of control command on the duration of the respective time slot T _es (k), allocated to the execution control commands which k identifier received as part of said code combination with number

compare the duration of the time interval T _isp (k) with the duration of the delay T _{task 1} , equal to the difference between the fixed time interval T _A and the duration

code combinations of signal A, counted from the moment of the end of the code combination with the number

when the time interval T _isp (k) is exceeded, the duration of the delay T _{task 1 is} calculated and their difference T _{Δ is} calculated and stored, in the case when the duration of the time interval T _isp (k) does not exceed the duration of the delay T _{item 1 , T Δ} = 0 is taken and stored , after the delay T _{task 1,} an additional delay is introduced into the transmission of signal B by the amount of T _Δ stored in the memory, after an additional delay, after checking the fact of execution of the received control command, a receipt signal is formed, consisting of a sequence of numbered code combinations, each of which contains the identifier k of the received control command, the sign j of execution / non-execution of the control command on the second object, and the number

the first codeword from the sequence of all regenerated codewords of signal A, decoding of which passed without detection of errors, the generated receipt signal in the form of an acoustic signal B is emitted into the aquatic environment in the direction of the first object, signal B is received at the first object, the number m of the first codeword is stored , from the sequence of all regenerated code combinations of signal B, the decoding of which passed without error detection, the information about the identifier k of the control command received at the second object, the number

the first codeword, from the sequence of all regenerated codewords of signal A, during the decoding of which no errors were found, sign j of execution / non-execution of the control command, the fact of transmission from the second object of signal B with an additional delay T _Δ > 0 and the duration of this additional delay T _Δ , for this, using the information stored in the memory, extracted from the codeword with the number m of the signal B, about the identifier k of the control command received at the second object, the number

the first codeword in the sequence of the recovered codewords signal A, decoding is passed without error detection is read from the memory and comparing the duration of the time interval T _es (k), allocated to the control command being executed with the identifier k, with the difference between a fixed interval of time T _A and duration

code combinations of signal A, exceeding the duration of the time interval T _isp (k) of the difference between the fixed time interval T _A and the duration

code combinations of signal A, is a sign of transmission from the second object of signal B with an additional delay T _Δ > 0, the value of which is equal to the difference of the time interval T _isp (k) and the difference of the fixed time interval T _A , reduced by the duration

codewords signal A, when no detected feature transmission from the second object signal B with an additional delay of receiving and storing the duration of the additional delay T _Δ = 0, use the duration additional delay T _Δ when calculating the propagation time τ of the acoustic signal between the objects according to the rule: m = 0.5 (t ₂ -t ₁ -T _A -T _B -T _Δ ), display the desired value of the propagation time of an acoustic signal between objects in a form suitable for subsequent use.

At the same time, in the device for determining the propagation time of an acoustic signal between underwater objects, containing on the first object: a control unit, a signal generator A and a first transmitter of acoustic signals connected in series, a first receiver of acoustic signals, a first regenerator of code symbols and a first decoder, as well as a first a meter of the boundaries of code symbols, the first delay unit, serially connected meter of the time interval, the first calculator, an information display unit, the output of which serves as the output of the device, the input of the device is the input of the control unit, while the input of the first meter of the boundaries of code symbols is connected to the output of the first receiver of acoustic signals , the output of the first meter of the boundaries of code symbols is connected to the clock inputs of the first regenerator of code symbols and the first decoder connected together, the first output of the first decoder is connected to the first input of the first delay unit and the second input One of the information display unit, the second output of the first decoder is connected to the second input of the first delay unit and the third input of the information display unit, the third output of the first decoder is connected to the fourth input of the information display unit, the second output of the signal generator A is connected to the first control input of the first decoder, the first control the input of the time interval meter is connected to the output of the control unit, the output of the first delay unit is connected to the second control inputs of the time interval meter, the first decoder and the second input of the first calculator, at the second object: the second receiver of acoustic signals connected in series, the second regenerator of code symbols and the second decoder , the signal generator B and the second transmitter of acoustic signals, as well as the second meter of the boundaries of the code symbols and the second block of the delay, are connected in series, while the input of the second meter of the boundaries of the code symbols is connected to the output of the second receiver of acoustic signals, the output of the second meter of the boundaries of code symbols is connected to the clock inputs of the second regenerator of code symbols and the second decoder connected together, the first and second outputs of the second decoder are connected to the first and second inputs of the second delay unit, respectively, the third output of the second decoder is connected to the second input of the signal generator B , the third output of the second decoder, also serves as the output of the device of the second object, from which the received control command is transmitted for execution, the first memory unit is included in the device of the first object, the second calculator, the second memory unit and the third delay unit are included in the device of the second object, the input the first memory block is connected to the second output of the first calculator, the output of the first memory block is connected to the seventh input of the first calculator, the third, fourth, fifth and sixth inputs of the first calculator are connected to the first, second, third and fourth outputs of the first decoder, respectively, the fifth and sixth inputs of the block ka information displays are connected to the fourth and fifth outputs of the first decoder, respectively, the first, second and third inputs of the second calculator are connected to the first, second and third outputs of the second decoder, respectively, the first output of the second calculator is connected to the input of the second memory unit, the output of which is connected to the fourth input the second calculator, the second output of the second calculator is connected to the first input of the third delay block, the fifth input of the second calculator, the second input of the third delay block and the second control input of the second decoder are connected together and connected to the output of the second delay block, the output of the third delay block is connected to the fourth input of the generator signal B, the first and third inputs of the signal generator B are connected to the first and second outputs of the second decoder, respectively, the second output of the signal generator B is connected to the first control input of the second decoder, and a signal indicating the execution of the control command arrives at the sixth input of the second calculator enia.

The alleged invention is illustrated by drawings.

первой комбинации, декодирование которой прошло без обнаружения ошибок, в условиях приема на втором объекте сигнала А, состоящего из четырех пронумерованных кодовых комбинаций.FIG. 1 illustrates the dependence of the transmission delay from the second object to the first signal B on the number

the first combination, the decoding of which passed without detection of errors, in the conditions of reception at the second object of the signal A, consisting of four numbered code combinations.

FIG. 2, 3 show the diagrams of devices of the first and second underwater objects, respectively, as part of the claimed device for determining the propagation time of an acoustic signal between underwater objects.

The first object (Fig. 2), where the determination of the propagation time of the acoustic signal between the objects is carried out, contains a series-connected control unit 1, a signal generator 2 A and a first transmitter 3 of acoustic signals, a first receiver 10 of acoustic signals, a first regenerator 7 of code symbols and the first decoder 6, as well as the first meter 8 of the boundaries of the code symbols, the first delay unit 5, the first memory unit 21, serially connected meter 4 of the time interval, the first calculator 9, the information display unit 11, which serves as the output of the device, the input of the device is the input 12 of the unit control 1, while the input of the first meter 8 of the boundaries of the code symbols is connected to the output of the first receiver 10 of acoustic signals, the output of the first meter 8 of the boundaries of the code symbols is connected to the clock inputs of the regenerator 7 of the code symbols and the first decoder 6, the first output of the first decoder 6 is connected to the first input first block 5 delay, the third input of the first calculator 9 and the second input of the information display unit 11, the second output of the first decoder 6 is connected to the second input of the first delay unit 5, the fourth input of the first calculator 9 and the third input of the information display unit 11, the third output of the first decoder 6 is connected to the fifth input of the first calculator 9 and the fourth input of the information display unit 11, the fourth output of the first decoder 6 is connected to the sixth input of the first calculator 9 and the fifth input of the information display unit 11, the fifth output of the first decoder 6 is connected to the sixth input of the information display unit 11, the second output of the first calculator 9 is connected to the input of the first memory unit 21, the output of which is connected to the seventh input of the first calculator 9, the second output of the signal generator 2 A is connected to the first control input of the first decoder 6, the first control input of the time interval meter 4 is connected to the output of the control unit 1, the output the first block 5 of the delay is connected to the WTO ry control inputs of the meter 4 of the time interval, the first decoder 6 and the second input of the first calculator 9.

The second object (Fig. 3) contains a series-connected second receiver 13 of acoustic signals, a second regenerator 14 of code symbols and a second decoder 15, a series-connected generator 18 of signal B and a second transmitter 19 of acoustic signals, as well as a second meter 16 of the boundaries of code symbols, the second block 17 delays, a second calculator 22, a second memory unit 23 and a third delay unit 24, where the second output of the signal generator 18 B is connected to the first control input of the second decoder 15, the first output of the second decoder 15 is connected to the first inputs of the second delay unit 17, the signal generator 18 B and the second calculator 22, the second output of the second decoder 15 is connected to the second inputs of the second delay block 17, the second calculator 22 and the third input of the signal generator 18 B, the third output of the second decoder 15, from which the received control command is transmitted for execution, is connected to the third input the second calculator 22 and the second input of the signal generator 18 B, the fourth the input of the signal generator 18 B is connected to the output of the third delay unit 24, the output of the second delay unit 17 is connected to the connected together second control input of the second decoder 15, the fifth input of the second calculator 22 and the second input of the third delay unit 24, the first output of the second calculator 22 is connected to the input the second memory unit 23, the output of which is connected to the fourth input of the second calculator 22, the second output of the second calculator 22 is connected to the first input of the third delay unit 24, the sixth input of the second calculator 22 serves as the input 25 of the device of the second object, which receives the signal of the sign of the execution of the control command.

The work of the proposed device consists in the implementation of the following actions and operations.

1. Select and set the structure of hydroacoustic signals A and B used to determine the propagation time of an acoustic signal between underwater objects and at the same time being control signals that are exchanged between objects. Control command signals transmitted from the first object to the second are used as signal A, and receipt signals transmitted in response from the second object to the first are used as signal B. As the numbered code combinations transmitted as part of signals A and B, block correction codes that detect errors are used.

The order of their selection for use as part of signals A (control commands) and B (receipts) is presented above in the description of the prototype device.

The number of information symbols transmitted as part of each of the numbered code combinations of signal A is determined by the number of control commands K, which is supposed to be transmitted from the first object, and the number of code combinations L that make up signal A.

The number of information symbols in the code combinations of receipt signals is determined by the number of used receipt signals K, the number of code combinations M in the signal B, the number of code combinations L in the signal A and the number of execution or non-execution indicators on the second object of the received control command. The choice of a specific type of block correcting code for transmitting control commands and receipts can be carried out using materials [3].

Code symbols s _a and s _b , following with periods T _a and T _b , as part of signals A and B, respectively, are selected based on information about the bandwidth, phase and amplitude characteristics of the corresponding acoustic receivers and transmitters used as part of the equipment of the first and second objects, as well as taking into account the statistical characteristics of noise and interference acting at the input of the corresponding receivers. In general, code symbols s _a and s _b , their periods

T _a and T _b , as well as the block correction codes used to construct signals A and B, may differ from each other.

Data on the structure of hydroacoustic signals A (control command signals), including information on the specific form of the applied block correction code, code symbols s _a , their period T _a , the number of numbered code combinations

L, the number K of control commands transmitted to the second object are stored in the corresponding form in the signal generator 2 A, the first transmitter 3 of acoustic signals, the first calculator 9 and the information display unit 11, and on the second object - in the second receiver 13 of acoustic signals, in the second regenerator 14 code symbols, the second decoder 15, the second meter 16 of the boundaries of the code symbols, the second block 17 delay and the second calculator 22.

Data on the structure of hydroacoustic signals B (receipt signals), including information about the specific type of the applied block correction code, code symbols s _b , their period T _b , the number of numbered code combinations M that make up signal B, the number K control commands transmitted to the second object , the number of numbered code combinations L that make up the signal A, sign j of execution or non-execution of the control command on the second object is stored in the corresponding form on the second object in the signal generator B, the second transmitter 19 of acoustic signals, and on the first object - in the first receiver 10 of acoustic signals, the first block 5 delay, the first decoder 6, the first regenerator 7 code symbols, the first meter 8 of the boundaries of the code Symbols, the first calculator 9 and block 11 display information.

_{2. A} fixed time interval T A, greater than or equal to the duration of the signal A, and a fixed time interval T B, greater than or equal to the duration of the signal _{B are} selected and stored in the appropriate form on the first and second objects _{. The value of the fixed time interval T A is} stored on the first object in the first calculator 9, at the second object - in the second block 17 of the delay and the second calculator 22. The value of the fixed time interval _{TB is} stored on the first object in the first block 5 of the delay and the first calculator 9, at the second object - in the second calculator 22.

3. Also set and stored in an appropriate form in the first memory unit 21 on the first object and the second memory unit 23 on the second object predetermined duration of time intervals T _es (k), necessary for execution on the second object control command with the identifier k.

4. The equipment of the first and second objects is randomly placed in the aquatic environment, for example, the equipment of the first object is lowered under water from a surface ship, and the equipment of the second object is placed at the bottom.

5. At receipt at time t _1, the control unit 1 is input, which input device 12, the external signal transmission to the second control command object identifier k, the output signal of the control unit 1 is supplied to the first control meter input time slot 4, and input generator 2 signal A, carry out their simultaneous inclusion.

каждая из которых состоит из кодовых символов s_a (1<а≤А), следующих с периодом Т_а. При использовании, например, двоичных кодовых символов А=2, кодовые символы s_a принимают значения «0» и «1».In the meter 4 of the time interval, the time starts counting until the receipt of the receipt signal from the second object, and in the generator 2 of the signal A, using the received identifier k of the control command to be transmitted, the signal A is formed, formed by a sequence of L numbered code combinations

each of which consists of code symbols s _a (1 <a≤A), following with a period of T _a . When using, for example, binary code symbols A = 2, the code symbols s _a take on the values "0" and "1".

Signal A is sequentially transmitted to the first acoustic signal transmitter 3, where it is converted into an acoustic form and emitted into the aqueous medium in the direction of the second object.

Upon completion of the formation and transmission of signal A by the signal from the second output of the generator 2 of the signal A, arriving at the first control input of the first decoder 6, the first decoder 6 is switched on, preparing the equipment of the first object to receive the signal B from the second object.

6. At the second object, the incoming acoustic signal A is converted into an electrical form, filtered and demodulated. These operations are performed in the second receiver 13 of acoustic signals.

7. Determine on the second object the time boundaries of the periods T _{a of the} symbols s _{a of the} signal A. The operation is carried out by means of the second meter 16 of the boundaries of the code symbols, made in the form of a phase-locked loop [4]. The time points corresponding to the mathematical expectation of the position of these boundaries are taken as the boundaries of the periods T _{a of the code symbols of the signal A [1].}

8. In the second regenerator 15 characters of the output signal of the second receiver 13, acoustic signals, resulting in the operations of claim. 7 borders periods T _and obtained regenerated code symbols s _a and transmitting them to the second decoder 15.

9. Each of the regenerated code symbols transmitted to the second decoder 15 together with the sequence of n-1 previous regenerated code symbols is presented in the decoder as a regenerated correction code combination that is subjected to decoding. If during decoding of this codeword errors are found, then when the next regenerated code symbol arrives at the input of the second decoder 15, the decoding operation is performed again for a new regenerated codeword shifted by one code symbol. The execution of the decoding operation is repeated in the decoder with a period T _a constantly until the end of the signal A.

If the decoding of the regenerated codewords occurs without error detection, then for each case of decoding without error detection, the corresponding information and control signals extracted from the corresponding codeword of the signal A (control command) are output to the output of the second decoder 15.

на первом, втором и третьем выходах второго декодера 15 формируют три сигнала: на первом выходе, соединенном с первыми входами второго блока 17 задержки, второго вычислителя 22 и генератора 18 сигнала Б, - сигнал-признак декодирования кодовой комбинации без обнаружения ошибок, на втором выходе, соединенном со вторыми входами второго блока 17 задержки, второго вычислителя 22 и третьим входом генератора 18 сигнала Б, - сигнал-номер

этой кодовой комбинации, на третьем выходе, соединенном с третьим входом второго вычислителя 22 и вторым входом генератора 18 сигнала Б, - сигнал-идентификатор принятой команды управления k.When decoding the first codeword of signal A without detecting errors with the number

at the first, second and third outputs of the second decoder 15, three signals are generated: at the first output, connected to the first inputs of the second delay block 17, the second calculator 22 and the signal generator 18 of the signal B, is a signal indicative of decoding the code combination without detecting errors, at the second output connected to the second inputs of the second block 17 of the delay, the second calculator 22 and the third input of the generator 18 of the signal B, is the signal number

this code combination, at the third output connected to the third input of the second calculator 22 and the second input of the generator 18 of the signal B, is the identifier signal of the received control command k.

записывают во второй блок 17 задержки, второй вычислитель 22 и генератор 18 сигнала Б, одновременно идентификатор принятой команды управления к записывают во второй вычислитель 22, генератор 18 сигнала Б и выдают в виде сигнала исполнения команды управления на выход 20 устройства второго объекта.On the signal from the first output of the second decoder 15 to decode the first codeword from the sequence of code combinations of signal A without detecting errors, its number

are written to the second delay unit 17, the second calculator 22 and the signal generator 18 of the signal B, at the same time the identifier of the received control command k is written to the second calculator 22, the generator 18 of the signal B and is output as a control command execution signal to the output 20 of the device of the second object.

In the second block 17, the delays are calculated and memorized the delay time T _{task 1} , until the end of the signal A and the beginning of the transmission from the second object of the signal B:

первой кодовой комбинации сигнала А, декодированной на объекте без обнаружения ошибок, во второй вычислитель 22 из второго блока 23 памяти записывают информацию о длительности интервала времени Т_исп (k), отведенного на исполнение принятой командыAfter entering the identifier k of the received control command and the number

the first codeword of the signal A, decoded at the object without detecting errors, information about the duration of the time interval _Tsp (k) allocated for the execution of the received command is written into the second calculator 22 from the second memory block 23

management. Carry out on the duration T _isp (k) control over the receipt at the input 25 of the device of the second object of the signal about the execution of the received control command. Compare T _isp (k) with the duration of the delay T _{task 1} .

If the interval T _isp (k) allocated for the execution of the received control command exceeds the duration of the delay T _{task 1} , then this means that the signal B should be transmitted from the second object with an additional delay T _Δ , the duration of which is equal to:

The value of the additional delay T _{Δ is} stored in the memory of the second calculator 22. If the interval T _isp (k) does not exceed the duration of the delay T _{task 1,} then T _Δ = 0, in this case the signal B should be transmitted without introducing an additional delay.

всех регенерированных кодовых комбинаций, декодирование которых произошло без обнаружения ошибок; уточняют по каждому последующему декодированию без обнаружения ошибок длительность задержки Т_зад.1, равную разности фиксированного интервала времени Т_А и длительности

кодовых комбинаций сигнала А, отсчитываемую от момента завершения кодовой комбинации с номером

.10. Continue receiving signal A until its end and sequentially determine the numbers

all regenerated code combinations, decoding of which occurred without error detection; specify for each subsequent decoding without detecting errors, the duration of the delay T _{task 1} , equal to the difference between the fixed time interval T _A and the duration

code combinations of signal A, counted from the moment of completion of the code combination with the number

...

These operations are performed in the second block 17 of the delay as the corresponding signals from the first and second outputs of the second decoder 15 arrive at its first and second inputs, which makes it possible to increase the accuracy of determining the position of the boundaries of the periods T _a and, accordingly, to increase the accuracy of setting the time of the start of transmission from the second signal object B.

11. Upon expiration of the delay T _{task 1, the} output signal of the second block 17 delay supplied to the second control input of the second decoder 15, the fifth input of the second calculator 22 and the second input of the third block 23 delay, stop the operation of the second decoder 15; and in the second calculator 22 and the third block 23 delay preparatory operations are performed to transmit the signal B from the second object.

From the second calculator 22 to the first input of the third delay unit 24, a signal is supplied containing a sign j of execution (non-execution) of the received control command and the duration of the additional delay T _Δ obtained when performing the operations according to claim 9. After the additional delay T _Δ from the third block 24 delay to the fourth input of the generator 18 of the signal B serves a control signal containing in its composition a sign j execution / non-execution of the received control command.

12. In the generator 18 of the signal B, signal B (receipt signal) is generated, formed by a sequence of M numbered code combinations Q _m (m = 1,2,3, ..., M), each of which consists of code symbols s _b (1 < b≤B), transmitted with a period of T _b .

When using binary code symbols B = 2, the code symbols s _b take the values "0" and "1". Considerations for choosing a correction code used in signal B generation are given in clause 1. In this case, the number of information symbols in each of the numbered code combinations of signal B is determined by the number of used receipt signals K, the number M of numbered code combinations in signal B, the number L numbered code combinations in the signal A and a sign j of the execution or non-execution of the control command at the second object.

The generated signal B is fed to the input of the second acoustic signal transmitter 19, where it is converted into an acoustic form and radiated into the aqueous medium in the direction of the first object. At the end of the transmission of signal B, the signal from the second output of the generator 18 of the signal B arriving at the first control input of the second decoder 15, the second decoder 15 is switched on, preparing the equipment of the second object to receive the next signal A.

13. At the first object, using the first acoustic signal receiver 10, the incoming acoustic signal B is converted into an electrical form, filtered and demodulated.

14. Next, the time boundaries of the periods T _{b of the} code symbols of the signal B are _{determined, the code symbols s b are} regenerated. Operations are performed similarly to operations on the second object, see p. 7 and p. 8, by means of the first meter 8 of the boundaries of the code symbols and the first regenerator 7 of the code symbols.

15. The regenerated code symbols s _b are transmitted to the first decoder 6. Each of the transmitted regenerated code symbols, together with a sequence of n-1 previous regenerated code symbols, are presented in the decoder as a regenerated codeword, which is subjected to decoding, similar to decoding at the second object. The execution of the decoding operation is repeated in the decoder 6 with a period T _b constantly until the end of the signal B.

16. When decoding the first codeword with number m in the sequence of all regenerated codewords of signal B, the decoding of which occurred without detecting errors, at the outputs of the first decoder 6, the corresponding information and control signals are generated, separated from the codeword with number m of signal B (receipt signal ).

первой кодовой комбинации сигнала А, при декодировании которой на втором объекте не обнаружено ошибок. На пятом выходе первого декодера 6, соединенном с шестым входом блока 11 отображения информации, формируют сигнал-признак j исполнения (неисполнения) на втором объекте принятой команды управления. Соответствующие сигналы записывают в первый вычислитель 9 и блок 11 отображения информации.At the first output of the first decoder 6, connected to the first input of the first delay unit 5, the third input of the first calculator 9 and the second input of the information display unit 11, an indication signal of code combination decoding without error detection is generated. At the second output of the first decoder 6, connected to the second input of the first delay unit 5, the fourth input of the first calculator 9 and the third input of the information display unit 11, a signal corresponding to the number m of this code combination is generated. At the third output of the first decoder 6, connected to the fifth input of the first calculator 9 and the fourth input of the information display unit 11, a signal corresponding to the identifier to the control command received at the second object is generated. At the fourth output of the first decoder 6, connected to the sixth input of the first calculator 9 and the fifth input of the information display unit 11, a signal is generated corresponding to the number

the first codeword of signal A, during decoding of which no errors were detected on the second object. At the fifth output of the first decoder 6, connected to the sixth input of the information display unit 11, a sign signal j of execution (non-execution) is generated on the second object of the received control command. The corresponding signals are recorded in the first calculator 9 and the information display unit 11.

In the first block 5 of the delay, the delay T _{task 2 is calculated} , equal to the difference between the fixed time interval T _B and the duration m code combinations of the signal B, counted from the end of the code combination with the number m:

where T _kkB is the duration of the code combination of signal B.

17. Continue receiving signal B until its end and sequentially determine the numbers m _{i of} all regenerated code combinations of signal B, during decoding of which no errors were found, the delay duration T _{task 2} , equal to the difference of a fixed time interval T, is specified for each subsequent decoding without error detection. _B and the duration of m _i code combinations of signal B, counted from the end of the code combination with the number m _i.This makes it possible to increase the accuracy of determining the position of the boundaries of the periods T _b and the end of the signal B. and the second inputs of the corresponding signals from the first and second outputs of the first decoder 6.

18. Upon expiration of the delay T _{set 2, the} signal from the output of the first delay block 5 supplied to the second control inputs of the first decoder 6, the meter 4 of the time interval and to the second input of the first calculator 9, the first decoder 6 is turned off, the meter 4 of the time interval is stopped, fixing the time t _{2 of} its stopping. The duration of the time interval t ₂ -t ₁ from the output of the meter 4 of the time interval is transmitted to the first calculator 9.

первой кодовой комбинации, из последовательности всех регенерированных кодовых комбинаций сигнала А, при декодировании которой на втором объекте не обнаружено ошибок, сначала считывают из первого блока 21 памяти длительность временного интервала Т_исп(k), отведенного на исполнение команды управления с идентификатором k, а затем сравнивают Т_исп(k) с разностью фиксированного интервала времени Т_л и длительности

кодовых комбинаций сигнала А.In the first calculator 9, the fact of transmission from the second object of the signal B with an additional delay T _Δ > 0 is checked and the duration of this additional delay T _{Δ is} calculated. For this, using the information stored in the memory of the first calculator 9 about the identifier to the control command received at the second object, the number

the first codeword in the sequence of the recovered codewords signal A, during decoding wherein the second object not found error is first read from the first block 21, the memory length of the time interval T _es (k), allocated to the control command being executed with the identifier k, then compare T _isp (k) with the difference between the fixed time interval T _l and the duration

code combinations of signal A.

кодовых комбинаций сигнала А, то это является признаком передачи от второго объекта сигнала Б с дополнительной задержкой T_Δ>0, которая определяется соотношением (9). Если длительность временного интервала Т_исп (k) не превышает значения разности фиксированного интервала времени Т_Δ и длительности

кодовых комбинаций сигнала А, то считают, что передача от второго объекта сигнала Б осуществлялась без введения дополнительной задержки и полагают T_Δ=0. Используют полученную величину длительности дополнительной задержки T_Δ для расчета времени распространения τ акустического сигнала между объектами по формуле: τ=0.5(t₂-t₁-Т_А-Т_Б-T_Δ).If the duration of the time interval T _isp (k) exceeds the value of the difference between the fixed time interval T _A and the duration

code combinations of signal A, then this is a sign of transmission from the second object of signal B with an additional delay T _Δ > 0, which is determined by relation (9). If the duration of the time interval T _isp (k) does not exceed the value of the difference between the fixed time interval T _Δ and the duration

code combinations of signal A, then it is considered that the transmission of signal B from the second object was carried out without introducing an additional delay and it is assumed that T _Δ = 0. The obtained value of the duration of the additional delay T _{Δ is used} to calculate the propagation time τ of the acoustic signal between the objects according to the formula: τ = 0.5 (t ₂ -t ₁ -T _A -T _B -T _Δ ).

и m первых кодовых комбинаций сигналов А и Б соответственно, при декодировании которых не обнаружено ошибок.19. The calculated value of the propagation time τ of the acoustic signal between objects is transmitted from the first calculator 9 to the information display unit 11, where it is displayed in a form suitable for subsequent use. Together with the value of τ, the information display unit 11 displays: the identifier k of the control command accepted for execution on the second object, the sign j of execution (non-execution) on the second object of this control command, as well as the numbers

and m first code combinations of signals A and B, respectively, during decoding of which no errors were detected.

и m первых кодовых комбинаций сигналов А и Б соответственно, декодирование которых не сопровождалось обнаружением ошибок.Consider the additional possibilities that appear when using the information on the serial numbers available on the first object.

and m first code combinations of signals A and B, respectively, the decoding of which was not accompanied by error detection.

Decoding of code combinations, not accompanied by error detection, can occur in two cases:

- in the absence of code symbols distorted by interference in the regenerated code combinations of signals A and B, in these cases the code combinations are correctly decoded, the probability of such events is P _pr ;

- the number of code symbols, distorted by interference in the regenerated code combinations of signals, exceeds the detecting ability of the code and leads to decoding of code combinations with undetected error, the probability of such events is P _but .

In all other cases, errors during decoding are detected, which leads to the erasure of the corresponding codewords, the probability of erasing the codeword in this case P _article .

With regard to decoding one codeword, the cases of correct decoding of the codeword, decoding it with undetected error and erasing the codeword form a complete group of events: P _pr + P _but + P _st = 1. Since P _but << P _pr and P _but << P _st , it seems possible to take P _pr + P _yj ≈P and P _{pr +} P _st ≈1.

и m первых кодовых комбинаций из последовательности регенерированных кодовых комбинаций сигналов А и Б соответственно, декодирование которых не сопровождалось обнаружением ошибок, являются случайными дискретными событиями.Obviously, the ordinal numbers

and m first code combinations from the sequence of regenerated code combinations of signals A and B, respectively, the decoding of which was not accompanied by error detection, are random discrete events.

Let us assume that signal A consists of L numbered code combinations of a block correcting (n _a , q _a ) code with a minimum code distance d _a , here n _a is the length of the code combinations of signal A, q _a is the number of information symbols in the code combinations of signal A, a signal B consists of M numbered code combinations of a block correcting (n _b , q _b ) code with a minimum code distance d _b , here n _b is the length of the signal code combinations

B, q _b - the number of information symbols in the code combinations of signal B.

Let us denote p _a - the average probability of receiving a code symbol at the second object as part of signal A with an error, p _b - the average probability of receiving a code symbol at the first object as part of signal B with an error. The average probabilities of receiving the code symbols of signals A and B depend on the signal-to-noise ratio at the inputs of the acoustic receivers of the second and first objects, respectively.

Due to the spatial diversity of underwater objects, errors arising from the reception of signals A and B can be considered uncorrelated. The distribution laws of error sequences in the received signals A and B are a priori unknown.

и m сигналов А и Б соответственно, декодирование которых произошло без обнаружения ошибок.Nevertheless, the use of the hypothesis about the independent nature of errors in the communication channel makes it possible to obtain estimates of the probabilities of decoding the first code combinations with sequence numbers

and m signals A and B, respectively, which were decoded without error detection.

из последовательности кодовых комбинаций, составляющих сигнал А, может оцениваться величиной:Probability of decoding without error detection for the first codeword with an arbitrary number

from the sequence of code combinations that make up the signal A can be estimated by the value:

and the probability of decoding without detecting errors of the first codeword with an arbitrary number m from the sequence of regenerated codewords that make up signal B is by the value:

и

номеров первых кодовых комбинаций, при декодировании которых не обнаруживаются ошибки, могут оцениваться величинами:Mathematical expectations

and

the numbers of the first code combinations, during the decoding of which no errors are detected, can be estimated by the values:

и

возможно применить для целей отслеживания качества передачи сигналов А и Б в процессе обмена сигналами управления между объектами.If we substitute in expressions (13), (14) the values of p _a and p _b used in the choice of block correction codes for the formation of numbered code combinations of signals A and B, then the obtained estimates of the mathematical expectations

and

it is possible to use it for monitoring the quality of signal transmission A and B in the process of exchange of control signals between objects.

и m первых кодовых комбинаций сигналов А и Б, декодирование которых не сопровождалось обнаружением ошибок, отображаемые на первом объекте в блоке отображения информации, сравнивают с оценками математических ожиданий

и

For this, in the process of signal exchange between objects, the sequence numbers

and m first code combinations of signals A and B, the decoding of which was not accompanied by error detection, displayed on the first object in the information display unit, are compared with the estimates of mathematical expectations

and

и m первых кодовых комбинаций сигналов А и Б, декодирование которых не сопровождалось обнаружением ошибок, от соответствующих теоретических оценок математических ожиданий

и

то это может служить признаком отличия реальных условий эксплуатации устройства от условий, заложенных в теоретическую модель для выбора сигналов А и Б.If there is a regular shift in sequence numbers

and m first code combinations of signals A and B, decoding of which was not accompanied by error detection, from the corresponding theoretical estimates of mathematical expectations

and

then this can serve as a sign of the difference between the actual operating conditions of the device and the conditions laid down in the theoretical model for the choice of signals A and B.

и m первых кодовых комбинаций сигналов А и Б, декодирование которых не сопровождалось обнаружением ошибок, в среднем превышают соответствующие оценки математических ожиданий

и

то это может являться следствием низкого отношения сигнал/шум на входе соответствующего приемника. В ряде случаев, когда снижение отношения сигнал/шум связано, преимущественно, с увеличением уровня шумов в среде распространения, простое увеличение мощности передачи сигналов позволяет скомпенсировать снижение отношения сигнал/шум, уменьшить среднюю вероятность ошибок в канале связи и, соответственно, уменьшить отличие номеров

и m первых кодовых комбинаций сигналов А и Б, декодирование которых не сопровождалось обнаружением ошибок, от теоретических оценок математических ожиданий

и

If the numbers

and m first code combinations of signals A and B, the decoding of which was not accompanied by error detection, on average exceed the corresponding estimates of mathematical expectations

and

this may be due to a low signal-to-noise ratio at the input of the corresponding receiver. In a number of cases, when a decrease in the signal-to-noise ratio is mainly associated with an increase in the noise level in the propagation medium, a simple increase in the signal transmission power makes it possible to compensate for the decrease in the signal-to-noise ratio, to reduce the average probability of errors in the communication channel and, accordingly, to reduce the difference in numbers.

and m first code combinations of signals A and B, decoding of which was not accompanied by error detection, from theoretical estimates of mathematical expectations

and

и m первых кодовых комбинаций сигналов А и Б, декодирование которых не сопровождалось обнаружением ошибок, оказываются в среднем меньше соответствующих оценок математических ожиданий

и

то это указывает на высокую величину отношения сигнал/шум на входе соответствующего приемника и имеющийся запас по мощности передачи соответствующих сигналов. При наличии ограничений, например, при работе устройства от автономного источника питания с ограниченной емкостью, можно рекомендовать понизить мощность передаваемых сигналов.If the numbers

and m first code combinations of signals A and B, the decoding of which was not accompanied by error detection, turn out on average to be less than the corresponding estimates of mathematical expectations

and

This indicates a high value of the signal-to-noise ratio at the input of the corresponding receiver and the available headroom in transmission power of the corresponding signals. If there are restrictions, for example, when the device operates from an autonomous power source with limited capacity, it is possible to recommend reducing the power of the transmitted signals.

Controlling the transmission power of signal A at the first object does not present significant organizational difficulties, and remote control of the transmission power of signal B at the second object will require expanding the ensemble of control signals that are exchanged between underwater objects.

и m первых кодовых комбинаций сигналов А и Б, декодирование которых не сопровождалось обнаружением ошибок, дополнительно расширяет функциональные возможности заявляемых способа и устройства определения времени распространения акустических сигналов между подводными объектами, так как обеспечивает возможность отслеживания качества передачи сигналов в обоих направлениях и создает предпосылки для контролируемого управления параметрами передачи сигналов А и Б, например, изменением мощности передачи сигналов, изменением скорости передачи сигналов (изменением длительности периодов Т_а, Т_б), изменением количества пронумерованных кодовых комбинаций, составляющих сигналы А и Б, и/или заменой используемых корректирующих кодов.Therefore, the use of the information available on the first object about the sequence numbers

and m first code combinations of signals A and B, the decoding of which was not accompanied by error detection, additionally expands the functionality of the proposed method and device for determining the propagation time of acoustic signals between underwater objects, since it provides the ability to monitor the quality of signal transmission in both directions and creates the preconditions for a controlled control of signal transmission parameters A and B, for example, changing the signal transmission power, changing the signal transmission rate (changing the duration of the periods T _a , T _b ), changing the number of numbered code combinations that make up signals A and B, and / or replacing the used correction codes.

и

рассчитанных с применением выражений (13) и (14), могут применяться экспериментальные оценки математических ожиданий номеров первых кодовых комбинаций сигналов А и Б, при декодировании которых не обнаруживаются ошибки, полученные ранее в сеансах обмена сигналами управления между подводными объектами.Obviously, for the purpose of monitoring the quality of signal transmission A and B in the process of signal exchange between underwater objects, along with theoretical estimates of mathematical expectations

and

calculated using expressions (13) and (14), experimental estimates of the mathematical expectations of the numbers of the first code combinations of signals A and B can be used, the decoding of which does not reveal errors previously obtained in control signal exchange sessions between underwater objects.

The essential differences between the proposed method and device for determining the propagation time of an acoustic signal between underwater objects are:

- the transmission of receipt signals from the second object is carried out not upon receipt of the control command signal, but upon its execution;

- the time interval from the moment the control command signal arrives at the second object until the receipt signal is transmitted from it - a variable value, a priori unknown;

первой кодовой комбинации из последовательности кодовых комбинаций сигнала А, при декодировании которой не обнаружено ошибок;- transmission of information about the number from the second object as part of signal B (receipt signal)

the first codeword from the sequence of codewords of signal A, during the decoding of which no errors were detected;

первой кодовой комбинации из последовательности кодовых комбинаций сигнала А, при декодировании которой на втором объекте не обнаружено ошибок, для устранения неопределенности в определении интервала времени от момента прихода сигнала команды управления на второй объект до момента передачи от него сигнала квитанции;- use of the number information on the first object

the first codeword from the sequence of code combinations of signal A, during the decoding of which no errors were detected on the second object, to eliminate the ambiguity in determining the time interval from the moment the control command signal arrives at the second object until the receipt signal is transmitted from it;

и m первых кодовых комбинаций сигналов А и Б, декодирование которых на втором и первом объектах не сопровождалось обнаружением ошибок, для отслеживания качества передачи сигналов управления в обоих направлениях.- use of information about numbers on the first object

and m first code combinations of signals A and B, the decoding of which on the second and first objects was not accompanied by error detection, to monitor the quality of transmission of control signals in both directions.

The set of essential features of the claimed method and device has a causal relationship with the achieved technical result, from which it can be concluded that this technical solution is new, has an inventive step, since it does not explicitly follow from the existing level of technology, and is suitable for practical use ...

For the technical implementation of the proposed device, the corresponding blocks of devices can be used [1, 2]. The third block 24 delay on the second object is similar to the second block 17 delay and can be performed according to its scheme. The second calculator 22 included in the equipment of the second object is similar to the first calculator 9 included in the equipment of the first object, and can also be implemented according to its scheme. It is expedient to perform the first memory block 21 together with the first calculator 9, using, for example, a microcontroller of the megaAVR family, equipped with a large-volume program and data memory [7]. According to the same scheme, on a microcontroller of the megaAVR family, you can release the second calculator 22 and the second memory unit 23. As a block 11 displaying information, you can use a printer or video monitor, for example, the monitor HP Elite E series [8].

Sources of information

1. Patent RU 2208238, IPC G01S 15/00. A method for determining the propagation time of an acoustic signal between objects separated by an aqueous medium and a device for its implementation. - declared on 07/05/2000, published on 07/10/2003.

2. Patent RU 2099887, IPC Н04L 5/14. Method of transferring control commands between objects separated in space and a device for its implementation // Krivolapoe G.I., Makarov A.A., Chernetsky G.A. - declared 13.04.1995, published 20.12.1997.

3. W. Peterson, E. Weldon. Error-correcting codes / Per. from English - M .: Mir, 1976 .-- 594 p.

4. Patent SU 1838801, IPC G01S 15/00. A method for determining the propagation time of an acoustic signal between objects separated by an aqueous medium and a device for its implementation // Krivolapov G.I., Gavrilenko B.C., Shein B.N - declared on 01.07.1991, published on 13.10.1992.

5. Arsentiev V.G., Krivolapov G.I. Some results of the implementation of underwater technologies at SibSUTI // Fundamental and Applied Hydrophysics, 2011, volume 4, no. 3, pp. 129-134.

6. Tarasyuk Yu.F. Hydroacoustic telecontrol. - L .: Shipbuilding, 1985 .-- 200 p.

7. Evstifeev A.V. AVR microcontrollers of the Mega family: user manual. M .: Publishing house "Dodeka - XXI", 2007.

8. Monitor HP Elite E series [Electronic resource] // URL: https://www8.hp.com/ru/ru/elite-family/elitedisplay-e-series.html (date accessed: 07.08.2020).

Claims (3)

1. A method for determining the propagation time of an acoustic signal between underwater objects, which consists in transmitting at some point in time t ₁ from the first object to the second acoustic signal A and receiving it at the second object, in transmitting the acoustic signal B from the second object and receiving it at the first object, in use as an acoustic signal A of control command signals, represented by a sequence of L numbered code combinations, consisting of code symbols s _a , following with a period of T _a , in use as an acoustic signal B of receipt signals on the second object of control commands , represented by a sequence of M numbered code combinations, consisting of code symbols s _b , following with a period T _b , containing in each of the code combinations of signals A and B, the number of this code combination in the sequence and the identifier k of the control command, in preselection and storage on first and second objects of a fixed time interval T _A , greater or equal to the duration of signal A and corresponding to the time interval from the moment the signal A arrives at the second object until its end and transmission to the first object of signal B, in the preliminary selection and storage of a fixed time interval T _B on the first object, greater or equal to the duration of signal B and corresponding to the time interval from the moment the signal B arrives at the first object until its end and the value of the required propagation time of the acoustic signal between the objects is obtained, and the reception of signals at the second and first objects includes the conversion of acoustic signals into an electrical form, their filtering and demodulation, determination of the boundaries of the periods T _a and T _{b of} code symbols, regeneration of code symbols in code combinations of signals A and B, respectively, in determining the numbers on the second object

the first codeword from the sequence of all regenerated codewords of signal A, the decoding of which passed without error detection, in the transmission for execution of the control command, the identifier of which is contained in the codeword with the number

signal A, in the introduction of the delay T _{task 1} , equal to the difference between the fixed time interval T _A and the duration

code combinations of signal A, counted from the moment of the end of the code combination with the number

, in the continuation of receiving signal A until it ends and sequentially determining the numbers

of all regenerated code combinations of signal A, decoding of which passed without error detection, in refinement for each subsequent decoding of signal A code combinations without detection of errors delay duration T _{task 1} , equal to the difference between a fixed time interval T _A and duration

code combinations of signal A, counted from the moment of the end of the code combination with the number

, in the transmission from the second object to the first acoustic signal B after the delay T _{task 1} , in the determination on the first object of the number m of the first code combination from the sequence of all regenerated code combinations of signal B, the decoding of which took place without detecting errors, in the introduction of the delay T _{back .2} , equal to the difference between a fixed time interval T _B and the duration m code combinations of signal B, counted from the end of the code combination with number m, in the selection from the decoded code combination with number m of signal B of the identifier k of the control command received for execution at the second object , in the display of the identifier k in a form suitable for perception and use, in the continuation of the reception of signal B until its end and the sequential determination of the numbers m _{i of} all regenerated code combinations of signal B, the decoding of which passed without detection of errors, in the refinement for each subsequent decoding without detection error code com signal B _{binations of} delay T set 2, equal to the difference between the fixed time interval T _B and the duration m _{i of the} code combinations of signal B, counted from the end of the code combination with the number t ₂ in fixation on the first object of time t ₂ after the delay T _{set 2} , characterized in that the array K of all control commands used as signal A is preliminarily determined and stored on the first and second objects, consisting of the identifiers k of these control commands and the durations of the time intervals _Tsp (k), ensuring the guaranteed execution of the corresponding control commands on the second object, remember on the second object the number

the first codeword in the sequence of the recovered codewords signal A, during decoding wherein no error, fix the fact and the time of control command on the duration of the respective time slot T _es (k), allocated to the execution control commands which k identifier received as part of said code combination with number

, compare the duration of the time interval T _isp (k) with the duration of the delay T _{task 1} , equal to the difference between the fixed time interval T _A and the duration

code combinations of signal A, counted from the moment of the end of the code combination with the number

, when the time interval T _isp (k) is exceeded, the duration of the delay T _is calculated and their difference T _{Δ is} calculated and stored, in the case when the duration of the time interval T _isp (k) does not exceed the duration of the delay, T _Δ = 0 the expiration of the delay T _{task 1,} an additional delay is introduced into the transmission of signal B by the value of T _Δ stored in the memory, after the additional delay, after checking the fact of execution of the received control command, a receipt signal is formed, consisting of a sequence of numbered code combinations, each of which contains an identifier k of the received control command, sign j of execution / non-execution of the control command on the second object and the number

the first codeword from the sequence of all regenerated codewords of signal A, decoding of which passed without detection of errors, the generated receipt signal in the form of an acoustic signal B is emitted into the aquatic environment in the direction of the first object, signal B is received at the first object, the number m of the first codeword is stored , from the sequence of all regenerated code combinations of signal B, the decoding of which passed without error detection, the information about the identifier k of the control command received at the second object, the number

the first codeword, from the sequence of all regenerated codewords of signal A, during the decoding of which no errors were detected, sign j of execution / non-execution of the control command determine the fact of transmission from the second object of signal B with an additional delay T _Δ > 0 and the duration of this additional delay T _Δ , for this, using the information stored in the memory, extracted from the codeword with the number m of the signal B, about the identifier k of the control command received at the second object, the number

the first codeword in the sequence of the recovered codewords signal A, decoding is passed without error detection is read from the memory and comparing the duration of the time interval T _es (k), allocated to the control command being executed with the identifier k, with the difference between a fixed interval of time T _A and duration

code combinations of signal A, exceeding the duration of the time interval T _isp (k) of the difference between the fixed time interval T _A and the duration

code combinations of signal A is a sign of transmission from the second object of signal B with an additional delay T _Δ > 0, the value of which is equal to the difference between the time interval T _isp (k) and the difference of the fixed time interval T _A , reduced by the duration

codewords signal A, when not detected, the transmission characteristic of the second object of signal B with an additional delay of receiving and storing the duration of the additional delay T _Δ = 0, use the duration additional delay T _Δ when calculating the propagation time τ of the acoustic signal between the objects according to the rule: τ = 0.5 (t ₂ -t ₁ -T _A -T _B -T _Δ ), display the desired value of the propagation time of an acoustic signal between objects in a form suitable for subsequent use. 2. A method for determining the propagation time of an acoustic signal between underwater objects according to claim 1, characterized in that the information on serial numbers available on the first object is used

and m first code combinations of signals A and B, the decoding of which was not accompanied by error detection, for monitoring the quality of signal transmission in the forward and reverse directions at the first object by comparing the observed regular offsets of numbers

and m first code combinations of signals A and B relative to the corresponding theoretical and / or experimental estimates

and

their mathematical expectations. 3. A device for determining the propagation time of an acoustic signal between underwater objects, containing on the first object: a series-connected control unit, a signal generator A and a first acoustic signal transmitter, a first acoustic signal receiver, a first code symbol regenerator and a first decoder, and a first meter connected in series the boundaries of the code symbols, the first delay unit, serially connected meter of the time interval, the first calculator, the information display unit, the output of which serves as the output of the device, the input of the device is the input of the control unit, while the input of the first meter of the boundaries of the code symbols is connected to the output of the first receiver of acoustic signals, the output of the first meter of the boundaries of code symbols is connected to the clock inputs of the first regenerator of code symbols and the first decoder connected together, the first output of the first decoder is connected to the first input of the first delay unit and the second input of the block When displaying information, the second output of the first decoder is connected to the second input of the first delay unit and the third input of the information display unit, the third output of the first decoder is connected to the fourth input of the information display unit, the second output of the signal generator A is connected to the first control input of the first decoder, the first control input the time interval meter is connected to the output of the control unit, the output of the first delay unit is connected to the second control inputs of the time interval meter, the first decoder and the second input of the first calculator, at the second object: the second receiver of acoustic signals, the second regenerator of code symbols and the second decoder connected in series connected signal generator B and the second transmitter of acoustic signals, as well as the second meter of the boundaries of the code symbols and the second block of the delay, while the input of the second meter of the boundaries of the code symbols is connected to the output of the second receiver of acoustic signals , the output of the second meter of the boundaries of code symbols is connected to the clock inputs of the second regenerator of code symbols and the second decoder connected together, the first and second outputs of the second decoder are connected to the first and second inputs of the second delay unit, respectively, the third output of the second decoder is connected to the second input of the signal generator B, the third output of the second decoder also serves as the output of the device of the second object, from which the received control command is transmitted for execution, characterized in that the first memory unit is included in the device of the first object, the second calculator, the second memory unit and the third delay unit are included in the device of the second object , the input of the first memory block is connected to the second output of the first calculator, the output of the first memory block is connected to the seventh input of the first calculator, the third, fourth, fifth and sixth inputs of the first calculator are connected to the first, second, third and fourth outputs of the first decoder, respectively, the fifth and sixth th inputs of the information display unit are connected to the fourth and fifth outputs of the first decoder, respectively, the first, second and third inputs of the second calculator are connected to the first, second and third outputs of the second decoder, respectively, the first output of the second calculator is connected to the input of the second memory unit, the output of which is connected to the fourth input of the second calculator, the second output of the second calculator is connected to the first input of the third delay block, the fifth input of the second calculator, the second input of the third delay block and the second control input of the second decoder are connected together and connected to the output of the second delay block, the output of the third delay block is connected to the fourth signal generator B input, the first and third inputs of the signal generator B are connected to the first and second outputs of the second decoder, respectively, the second output of the signal generator B is connected to the first control input of the second decoder, and the signal of the execution indicator is sent to the sixth input of the second calculator. Commands of management.

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