| 主权项 |
1. A method for steering a first acoustic linear antenna belonging to a plurality of acoustic linear antennas towed by a vessel, a plurality of navigation control devices being arranged along said first acoustic linear antenna in order to act at least laterally on the position of said first acoustic linear antenna, wherein said method is carried out by at least one given navigation control device of said plurality of navigation control devices, which performs steps of:
obtaining propagation durations of acoustic signals transmitted between acoustic nodes arranged along a couple of acoustic linear antennas comprising said first acoustic linear antenna and another acoustic linear antenna among said plurality of acoustic linear antennas, said acoustic signals being intended to be used by said acoustic nodes to estimate the distances between said acoustic nodes; computing a local measurement of a feather angle or of a parameter linked to the feather angle, as a function of the obtained propagation durations of acoustic signals, said local measurement being associated with said given navigation control device; computing a lateral force, as a function of the computed local measurement; and applying the computed lateral force on said first acoustic linear antenna with motorized pivoting wings comprised in said given navigation control device,wherein said parameter linked to the feather angle is a distance separating:
a reference acoustic node, arranged along said other acoustic linear antenna; and a point which is an orthogonal projection, on said other acoustic linear antenna, of said given navigation control device. |
