UA119705U - AUTOMATED Drones - Google Patents

Abstract

The automated unmanned aerial system includes GPS receiver, sonar, gyro compass, propeller speed sensor, measuring vessel speed measurement (lag or acoustic lag), electronic control units, processing and storage of information, transmission of radio signals. In addition, the vessel speed measurement unit (lag) contains two sensory axes: a longitudinal, parallel to the diametrical plane of the vessel in its submarine part, and a traversed, oriented perpendicular to the diametrical plane of the vessel, with electrical outputs measured by the GPS data. , the propeller (via the vessel control unit) and the outputs with the measurement signals along the two axes of the lag are connected by the respective inputs of the information processing unit; the characteristic of the flow vector is related to the measurement results by the expression: - for the azimuth of the flow direction (vector EMBED Equation.3) EMBED Equation.3; - for flow velocity: EMBED Equation.3, where EMBED Equation.3 is the ship's course; EMBED Equation.3 - the angle between the direction of the vectors of the EMBED Equation.3 course and the current EMBED Equation.3; EMBED Equation.3, where EMBED Equation.3 is a component of the aberration to the course; EMBED Equation.3 is a component of course wear.

Description

The proposed useful model belongs to the field of remote sensing of the Earth (DZ33), in particular to the remote sensing of water objects.

A well-known system of unmanned measurement (1) is based on the implementation scheme of the method of combining the echolocation of the depths of a water object with the zRO determination of the coordinates of the measuring vessel and remote control from the central station on radio channel |21.

Well-known electromechanical water flow rate sensors are made in the form of an underwater measuring unit suspended on a cable from the ship's side |Z, 4, 51.

Known acoustic current speed sensors |b, 7), which are also used when the vessel is in a static position.

In both cases, the direction of the current is determined by eye.

Navigational acoustic lags are known for measuring the speed of the ship, while we note that they are not sensitive to the speed of the water flow |8I.

Thus, the methods and means of researching water objects contain a sufficiently high degree of automation of depth measurements and determination of the coordinates of measured verticals, but the measurement of the water flow vector is performed as a separate study with special devices, mainly by fixing such a device and fixing the depth using rope, which reduces the effectiveness of research in general.

This situation does not allow to ensure the measurement of the current vector directly in the process of measurement works, having, for example, a built-in system of measuring the current vector and to increase the level of complexity of research.

The task of a useful model is to increase the level of complexity of surveying works, to find a way to integrate various studies, which ensure the possibility of their execution in an automated mode on a surveying vessel during its movement along the line of surveying tack.

The task is solved by creating a system of automated unmanned surveying, which contains an SRS receiver, echo sounder, gyrocompass, propeller speed sensor, measuring vessel speed unit (lag or acoustic lag), electronic control units, information processing and storage, radio signal transmission, which differ in that the unit for measuring the speed of the vessel (lag) contains two sensitive axes: a longitudinal one, installed parallel to the diametrical plane of the vessel in its underwater part, and a transverse one, oriented

Perpendicular to the diametrical plane of the vessel. At the same time, the electrical outputs with the measured data of the CP5 receiver, sounder, gyrocompass, propeller (via the ship engine control unit) and outputs with measurement signals for two lag axes are connected to the corresponding inputs of the information processing unit; the characteristic of the current vector is related to the measurement results by the expression: nk - for its azim Mt) At Kt, utu direction of the current (vector); mg - MMK ud - for flow rate: ; where K is the ship's course; Sh

T- the distance between the direction of the ME course vectors and the UT current; 4pcs---

More

Mo. where else wear component along the traverse line to the course;

Mo. wear component along the course line.

The system according to item 1, which is characterized by the fact that the log block contains n-identical biaxial logs, the longitudinal axes of which are installed parallel to the diametrical plane of the vessel, while the logs are rigidly fixed on a vertical rod similar to a falstle at different levels (depths), and equipped switching unit for communication of ultrasonic log receivers with the information processing unit.

As an analogue, accepted as a prototype, the system |1) is proposed, which has common features with the one proposed in the part of echo sounding of depths and CP5-measurements.

The technical result is the possibility of integrating hydrometric studies of reservoirs, increasing the accuracy of measurements due to the level of automation of the measurement system.

In fig. 1 shows a diagram of an automated unmanned measuring system.

Main units of the system: 1 - control unit; 2 - information processing unit;

C - program block;

4-RB5 receiver; - gyrocompass; 6 - sounder; 7 - lag block; 5 8 - steering system; 9 - control unit of the court machine; - unit for receiving and transmitting radio signals; 11 - information storage unit.

All blocks are placed on a measuring vessel. Block 5 includes a gyrocompass and other 10 remote devices that ensure the safety of navigation.

Block 7, a lag block, which is schematically depicted in fig. 2, can contain several meters of the direction and speed of the oncoming water flow, made in a compact version and fixed on a vertical rod like a false school at different levels (depths);

In fig. 2 denote: - 7172 - emitters; - PP. receivers; "M. current direction vector; - y - the angle between the longitudinal axis of the device and the flow vector; - 2 - acute angle between the longitudinal axis of the device and the trajectory of the acoustic pulse; - Y- the distance between the emitter and the receiver; -Z- modulus of the impulse vector; p -AZ. distortion of the difference in distances Z between the emitter Vi and the receiver and under the influence of the current.

Obviously, the differences of AZ will be equal: to - со5 5 р or

AV --1so5 I v| le - sov 2. D 2 . 2.

Avg1--iso5 2-B| Or" - Isov TD 2, '2; (1)

Let's consider two modes of operation of the system: In a pop - when turning on emitters 72 and 7 at the same time! receivers and 2, we obtain the difference of the measured distances (M y:

А - А(АВ - АВой)- ДАО - АВаз) - divip in the output p on the receiver пу, when the emitters Ве are turned on sequentially; We obtain the sum of the differences A at the Per P2 receivers:

To - ААВИ - АВг1)- DAV - АВа) B disov in so5r 35 . ! Hello Do ; .

The ratio to will be equal to: p---92 96

Until 2

Hang on: A, F --- 2 0 9- 9 to 9 2 . with. "Ar; As V

Thus, after removing from the difference receivers and from" we obtain the value of the angle ", that is, the direction of the flow relative to the longitudinal axis of the log.

Differences 7! and 79 make it possible to calculate the value of the current velocity. Thus, after removing the sums of the phase differences A and Ac from the receivers Pe in Pe, we obtain the value of the angle B, i.e., the direction of the flow. And the values of schi and As make it possible to calculate the value of the flow speed, because schi is the sum of the phase differences of the ultrasonic pulses arriving at the receivers when the emitters are turned on simultaneously. Let's find out the number of wavelengths:

IY To No

Where: Te. frequencies of imp and Y Pe in Pe vi i i. 1, pulses registered by receivers and, respectively, and the nominal frequency. A A water (see se.

Priyfiyuni (C yug(o -e- Mfor some transformations we obtain: 2 2 OM lS

Mt AR se -Z(yu sho 5) Ex Ag 4;, or m.- MM

Yu Il

Rarely up to 2 2 yuyu

We note that depending on the nature of the origin of the water body, the presence of underground sources and channels, the features of the relief of the object, the dynamics of the movement of local water flows at different depths and in various directions is formed.

It can be very effective (in the first approximation) to study the specified dynamics of the water environment of the object (with a relatively small depth) using the rigging of a measuring vessel equipped with a block of two-coordinate lags spread at different depths.

The system functions as follows.

In fig. 1 shows the block diagram of the system. In advance, a navigation map and a water body measurement program are entered into the program block, in which the measurement tows, the level of accuracy of measurement work and other necessary conditions and characteristics according to the method of measurement by a measuring vessel (PS) are set. data of block 4. Then block 1 includes all blocks of the measuring system. Measurement data from blocks 4 (aRB-coordinates of measurement points at the time of depth measurement), 5 (course angle of the path), 6 (depth values) and 7 (components of current velocity behind the lag block). The block sends control signals to block 8 and 9, setting the course of the aircraft and the number of revolutions of the propeller. In block 2, according to the commands of block 1, processing of the received data and all basic calculations are performed: refined zRO-coordinates of measured verticals, depth, flow velocities of the water flow in different points of the water body with differentiation of the components of the flow velocity vector and taking into account the influence of the speed of the PS,

From the direction and speed of wear of the aircraft. According to these data, a digital ZO-model of the water object is formed from block 2 and is sent to the block for recording and saving information, and at the command of block 1 - to block C to transmit the obtained results to the central control station.

The method of determining the direction and speed of the water flow using a measuring complex.

Let's consider the scheme of movement of a measuring vessel on tack under the influence of external factors: wind, which causes the vessel to drift, and water currents, which causes wear. In fig. C shows: - point O - the position of the ship on the course line bo and on the measured tack line a, - K . the course of the measuring vessel - the azimuth of the OO line; -8. the angle between the straight line and 00 (course angle of the direction of the path line); - asra - a contour of ultrasonic beams of a two-coordinate lag, installed on the underwater part of the vessel in the direction of the diametrical plane.

During the measurement at the points of the measuring verticals on the line of the given tack, the speed of the ship is determined simultaneously with the depth measurements based on the measurements of the SRob receiver and the navigation two-coordinate acoustic lag block.

In fig. 2 shows a diagram of a right-angled triangle of component velocity vectors:

We. obtained during measurements of the ship's coordinates by the SR5 receiver on the line of the actual path (measured tack);

M. was obtained during measurements with a lag-block along the course of the PS;

M - obtained by calculating the leg CO of the constructed triangle of speeds CO,

Note that the MAMO speed component Mo is determined perpendicular to the path line from this line to the intersection of the ship's course line and the leg line: "Mo. drift velocity component; "Mo. the drift velocity component.

It is obvious that the projection of the speed M" on the course line gives the total component of the speed along the course line M so50, . - ush. Uk . . .

The lengths of the velocity vectors and contain the following components: - along the path line:

MTA UMaU US,

Where:

In where am I . . Mr. -

M is the component of speed in calm water (in the absence of wind and current); sh

MV. the component of the speed that arose due to the effect of the drift of the vessel; sh

Me. the component of the velocity that arose due to the influence of the current; - along the course line:

Mam M

MK. Mon.

M is the component of speed in calm water;

Kk

Mo. the component of speed that arose due to the influence of the ship's drift.

Kk

Obviously, we can find the component of the velocity Mo (dependent on the current) from the expression:

K x, sh Uk

Mo -M' so5x0-M

kk'

The component of the speed Mo along the course line has a component on the traverse line of the vessel Mo, measured using a two-coordinate lag (channel sa), which depends on the speed and direction of the wind.

K

It should be taken into account that the UM velocity vector does not have a component on the traverse of the course line (for

Kk in the direction of the sa laga axis), while the Mo vector in any wind direction, except for the one that coincides with the course line, has a wear component Mo, in the direction of the ship's traverse (on the sa laga asra axis). -

Let's draw a line parallel to the course line from the end of the Mo vector and obtain the value of the component of the Mo velocity on the leg line when it crosses this line with the leg oo of the triangle axo.

Then the component of the wear speed in the direction of the leg is fe. will be equal to:

Mo - -Mo the visibility of the current and the azimuth of the direction of the flow of the water stream are obtained from the expressions: 2

Mt - ME and At -K-T. become MK you M where: Uut between the direction of course and current vectors;

T - lk

WITH;

Thus, the proposed system allows to organically include the determination of the speed and direction of the flow of water streams in the water area of the reservoir into the technology of measuring works, while due to the integrated approach, the efficiency of research of water objects is significantly increased.

Sources of information: 1. Pat. 82811 Ukraine, IPC (2006) 5015 15/00. System of unmanned measurement / V.G. Burachek,

L.S. Mamontova, S.I. Weak; applicant and patent holder Chernihiv State Institute of Economics and Management. MO a200708032; application 16.07.2007; published 12.05.2008. Bul.Me9.

2. Pat. 82812 Ukraine, IPC (2006) 5015 15/00. Method of performance of measuring works / V.G.

Burachek, L.S. Mamontova, S.I. Weak; applicant and patent holder Chernihiv State Institute of Economics and Management. - MO a200708032; statement 16.07.2007; published 12.05.2008. Bul.Me9. 3. Bnikov V.D. Hydrometry / V.D. Bykov, A.V. Vasiliev. - L.: Hydrometeoizat, 1965. - 500 p. 4. Zheleznyakov G.V. Hydrology and hydrometry / G.V. Zheleznyakov - Moscow: Higher School, 1981. - 263 p. 5. Klymenko D.E. Development of hydrometric turntables in Russia and abroad / E.D.

Klymenko // Geographical newspaper. - 2010. - Me2(13). - P. 12-24. b. Fedorov N.N. Method of studying the hydrological regime of water objects / N.N.

Fedorov - L.: Hydrometeoizdat, 1982. - 392 p. 7. Tsyvin M.N. Hydrometry: theory and practice of measuring the speed of water flow! in open channels. / M.N. Tsyvin, P.I. Abramenko - K., IGiIM, 2003. - 109 p. 8. Lukomsky Yu.A. Navigation and control of the movement of courts / Yu.A. Lukomsky, V.G.

Pesekhonov, D.A. Skorokhodov - St. Petersburg: Zlmor, 2002. - 179 p.

Claims (2)

USEFUL MODEL FORMULA 1. System of automated unmanned surveying, which contains an SRO-receiver, echo sounder, gyrocompass, propeller speed sensor, unit for measuring the speed of the measuring vessel (lag or 20 acoustic lag), electronic control units, information processing and storage, radio signal transmission, which differs in that , that the unit for measuring the speed of the vessel (lag) contains two sensory axes: a longitudinal one, installed parallel to the diametrical plane of the vessel in its underwater part, and a transverse one, oriented perpendicular to the diametrical plane of the vessel, while the electrical outputs with the measured data of the SR-receiver, sounder, gyrocompass, of the propeller 25 (through the ship's engine control unit) and the outputs with measurement signals along the two lag axes are connected to the corresponding inputs of the information processing unit; the characteristic of the current vector is related to the measurement results by the expression: - for the azimuth of the current direction, ; UT) At - cat, ssh Mt - umo ms - for flow speed: ; 30 where K is the ship's course; but still mk m t-kuu between the direction of the course vectors M" and the current Mt; tk c with de Mo. component of wear along the traverse line to the course; Kk Mo. wear component along the course line. 35 2. The system according to claim 1, which differs in that the log block contains p-identical biaxial logs, the longitudinal axes of which are installed parallel to the diametrical plane of the vessel, while the logs are rigidly fixed on a vertical rod similar to a falstle at different levels (depths), and equipped with a switching unit for communication of ultrasonic log receivers with an information processing unit.