METHOD OF NAVIGATING SUBMARINE OBJECT USING HYDROACOUSTIC NAVIGATION SYSTEM Russian patent published in 2012 - IPC G01S15/06 

FIELD: physics.

SUBSTANCE: navigation base of M hydroacoustic transponders with different response frequencies and a hydroacoustic transceiver mounted on the navigation object are used to measure time intervals for propagation of signals with subsequent conversion thereof to distance between the submarine object and the hydroacoustic transponders. On the submarine object, a drifting station and a bottom station, a central receiving array is formed from M hydrophones placed on axes X and Y; outermost hydrophones are placed on each axis at distance 1-1.5 m from the point of intersection of axes X and Y, wherein acoustic signals received by the outermost hydrophones in each line of hydrophones are used for accurate measurement of the component of the direction of arrival of acoustic waves, and acoustic signals received by M hydrophones of the central part of the array of M hydrophones are used to eliminate errors by a whole number of wavelengths when measuring the full phase difference between the outermost hydrophones; the drifting station is connected mechanically and electrically to the bottom station.

EFFECT: eliminating errors.

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