METHOD OF REMOTE GUIDANCE OF UNDERWATER VEHICLE Russian patent published in 2019 - IPC F41G7/20 

FIELD: control systems.

SUBSTANCE: method of remote guidance of underwater vehicle relates to the field of study of the world ocean in various fields of technology, in particular, can be used in guidance systems of remote-controlled underwater vehicles for various purposes when operating in an aqueous medium. In general case telecontrol consists in simultaneous control of coordinates of target and object, which is directed to target, dynamic formation of the trajectory of the guided object and transmission to it along the communication line of the calculated course for approach to the target. In method of remote guidance of underwater vehicle, including measurement by passive sonar of current bearings from carrier to target and to underwater vehicle, determining current distance from carrier to underwater vehicle, discrete formation of underwater vehicle guidance trajectory, generation of control command and transmission thereof along wire communication line from carrier to underwater vehicle, novel features are introduced – a pseudo-bearer moving in the direction of the initial bearing on the target at the speed of the real carrier, and a virtual remote control point which does not coincide with the position of the carrier, from which telecontrol is, as it were, performing double conversion of distances and bearings to objects: initially relative to pseudo-carrier, then relative to virtual point of remote control, after which direction of underwater vehicle movement is formed by alignment of bearings on underwater vehicle and on target, determined relative to virtual point of remote control. Thus, proposed method provides presence of angular separation of underwater vehicle and target, thereby improving quality of direction finding of target, and increases degree of invulnerability of carrier due to continuous movement of underwater vehicle aside from carrier.

EFFECT: formation of trajectory of remote control guidance of underwater vehicle, at which quality of direction finding of target is increased by system of carrier noise-direction-finding due to presence of angular distance of bearing on underwater vehicle and bearing on target, high degree of invulnerability of the carrier under mating effect.

1 cl, 3 dwg