METHOD FOR MAINTENANCE OF THE AUTONOMOUS UNDEFINED UNDERWATER APPARATUS Russian patent published in 2017 - IPC G01S1/08 G01S15/50 

FIELD: radio engineering, communication.

SUBSTANCE: to bring the autonomous underwater vehicle uses a single reference sonar beacon that emits signals at regular intervals, the device is set to a constant speed motion, the unit receives signals from the beacon, using extreme management system (EMS) searches for the optimum angle of the bearing of the lighthouse; produce lighthouse setting on the periodic emission of two types of phase-shift keyed noise-like signals S₁ and S₂ with the power P(S₁)>P(S₂) and the period T(S₁)≥T(S₂); during machine motion signals recorded using a multichannel receiver each of the channels is configured to change a certain duration and frequency of the signals S₁ and S₂ caused by the influence of Doppler; by analysing the correlation function in each of the channels, a signal is identified using the maximum selector and an estimate of the speed of mutual approach of the apparatus and the beacon is made; the received evaluation is submitted to the SRS input and the control of the propulsion-steering complex of the apparatus is performed to find and maintain a course corresponding to the maximum value of the additional; when registering signal S₂ reduce the speed of the movement of the engine. When a negative estimate of the additional value at the output of the maximum selector is received (the apparatus travels through the location of the lighthouse), the submarine is stopped.

EFFECT: reducing to a minimum set of recorded parameters needed to bring the underwater vehicle, in the absence of synchronization between the lighthouse and the underwater vehicle.

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