METHOD OF POSITIONING UNDERWATER OBJECTS Russian patent published in 2019 - IPC G01S3/80 

FIELD: hydro acoustics.

SUBSTANCE: present invention relates to methods of positioning underwater objects, namely to methods, in which signals are received from satellites located on hydroacoustic buoys of receivers, determining coordinates of hydroacoustic buoys, synchronizing clocks of all hydroacoustic buoys, transmitting location data of said hydroacoustic buoys, signals with the help of a hydroacoustic signal located on the underwater object are received, coordinates of the underwater object are determined using a computer module. According to the invention, at least three hydroacoustic buoys are used, with the help of the first hydroacoustic buoy the first request hydroacoustic signal is transmitted to the underwater object beacon-transponder, the moment of the beginning of the first signal transmission is recorded. This fixed time is transmitted, and the fixed time is received by the receivers of the second and third hydroacoustic buoys. First request signal of the first hydroacoustic buoy is received by a beacon-transponder. Time of arrival of the first hydroacoustic request signal by the clock of the beacon-transponder is determined, which is not synchronized with buoy clocks. Response signal is generated and transmitted through a fixed time after the moment of arrival of the first request signal. Response hydroacoustic signal is received by at least three hydroacoustic buoys. Three inclined ranges are determined from the time of propagation of the signal, as per the obtained at least three distances from the reference points of hydroacoustic buoys with known coordinates to the unknown point – the beacon-transponder of the underwater object – the coordinates of the underwater object are determined.

EFFECT: high accuracy of navigating underwater objects, as well as providing navigation during information exchange when operating with a large number of addressed underwater objects, particularly when providing operation of so-called underwater wireless sensor networks.

4 cl, 2 dwg