METHOD OF POSITIONING UNDERWATER OBJECTS Russian patent published in 2019 - IPC G01S15/06 

FIELD: physics.

SUBSTANCE: present invention relates to methods and corresponding systems of underwater objects positioning, namely to methods, where basic positioning devices are located, location of which is known or calculated in advance is determined using sensors located on the devices of basic positioning, depth of transmitters, and their location using the satellite navigation system, transmitting the request signal of the underwater object using the underwater object transmitter, coordinates of which need to be determined, transmitting response hydroacoustic signals from devices of basic positioning using transmitters of basic positioning devices, receiving response hydroacoustic signals using submarine receiver located on the receiver, coordinates of the underwater object are determined using the underwater object computer module by delaying the time of receiving signals from the basic positioning devices, the location of which is known. Invention can be used for accurate positioning of underwater objects, which enables to determine also spatial orientation of underwater object. According to the invention, reciprocal hydroacoustic signals are received on the underwater positioning object by at least three different receivers located on the underwater positioning object so that their mutual arrangement is accurately known and preserved during operation of the system. Their depths are then determined using sensors arranged on each receiver of the positioned underwater object. Further, considering the sound velocity in the medium, the distance from each receiver of the positioned object to each transmitter of the basic positioning devices is determined. Solving problems of location of these receivers with calculation of spatial position and orientation of underwater object.

EFFECT: high accuracy of navigating underwater objects with determination of their spatial orientation.

4 cl, 3 dwg