| 摘要 |
FIELD: the invention refers to the field of marine navigation particularly to the mode of using a navigational hydro acoustic system for determination of locations of autonomous underwater vehicles relatively to a plot on the seabed, for example, at fulfillment of scientific, searching and other underwater works. ^ SUBSTANCE: mode of using by underwater vehicles of a navigational hydro acoustic system is in simultaneous determination of the locations of all underwater vehicles of the group at inquiry by a hydro acoustic signal-command of one of the underwater vehicles of the group of (leading) responder beacons by one of the (driven) responder beacons. The location of each of underwater vehicles is determined by differences of distances to the leading responder beacon and to the drive responder beacon defined by measured intervals of time between reception of an acoustic signal of the request of the responder beacons by the leading responder beacon and acoustic signals of the response of the driven responder beacons. The location of the underwater vehicle is found as an intersection plot of hyperboloid of revolution whose number corresponds to the number of pairs of "leading-driven" responder beacons and focal points are located in installation plots of the corresponding responder beacons and the flatness passing through the center of the hydro acoustic antenna of the underwater vehicle transversely to the flatness of the true horizon. ^ EFFECT: increases the term of work of the navigational hydro acoustic system with three or more seabed responder -beacons at group operations of autonomous underwater vehicles. ^ 1 dwg |
