METHOD FOR DETERMINING COORDINATES OF THE UNDERWATER OBJECT BY THE HYDROACOUSTIC SYSTEM OF UNDERWATER NAVIGATION WITH AN ALIGNMENT BEACON Russian patent published in 2018 - IPC G01S15/42 

FIELD: navigation system.

SUBSTANCE: invention relates to underwater navigation and is intended for determining the location coordinates of an underwater object (UO) with increased accuracy, in particular underwater objects, equipped with a transceiver of a long-base hydroacoustic navigation system (HANS-LB, LBL system). For this purpose, one navigation beacon (NB) is allocated as an alignment beacon (AB). On the UO, the distances to the NB and to the AM are determined by the time of the signal propagation. According to the distances to NB and known NB coordinates, the coordinates of the UO are calculated, according to which and to known coordinates of the AB the distance between the UO and AB is calculated. Then, the calculated distance is compared with the distance determined by measuring distance passage time. If the deviation is greater than the set value, then by its value, the correction to the depth average-weighted sound velocity is calculated and the speed velocity is refined. Then, the distances to the NB and to the AB are determined by the time of the signal propagation, coordinates of the UO are specified, the value of the distance to the AB is calculated and the values of the determined and estimated distances between the UO and AB, etc. are again compared. Iterations continue until the deviation is less than the specified value. In this case, the UO coordinates are calculated with the smallest errors of sound velocity in water.

EFFECT: technical result of the invention is reduced errors in the sound velocity , which influences the error of calculating the distance to the UO, and thereby allows to increase the accuracy of determining the coordinates of the UO.

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