METHOD OF DETERMINING HORIZONTAL COORDINATES OF STATIONARY UNDERWATER SOURCE OF HYDROACOUSTIC NAVIGATION SIGNALS Russian patent published in 2010 - IPC G01S15/06 

FIELD: physics; navigation.

SUBSTANCE: invention relates to underwater navigation equipment, specifically to determination of location or for precise determination of coordinates of points where stationary beacons of hydroacoustic navigation systems are located, starting points or hovering points of standalone underwater robots and other underwater equipment fitted with sources of navigation signals. The method of determining horizontal coordinates of a stationary source of hydroacoustic navigation signals involves towing a hydroacoustic reception antenna in the vicinity of the point where a source of hydroacoustic navigation signals is located. The propagation time of hydroacoustic navigation signal in points where the reception antenna is located is measured. Current coordinates of the towed antenna at the moment of receiving the navigation signals are taken down. The obtained information is recorded and then used to calculate coordinates of the stationary underwater source. The towed hydroacoustic reception antenna is moved on arbitrary tracks which cover different directions in the vicinity of the point where the stationary underwater source of hydroacoustic navigation signals is located. The recorded coordinates of the reception antenna, obtained on arbitrary tracks, are sorted into groups equidistant from the stationary underwater source of navigation signals in accordance with the measured propagation time of navigation signals. Then for each group equidistant coordinate readings, if their number is less than three, horizontal coordinates of the source X_k, Y_k - are determined.

EFFECT: reduced error of determining coordinates of a stationary underwater source of hydroacoustic navigation signals in uncertain hydrology conditions and shorter time for coordination.

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