METHOD OF DETERMINING LOCATION OF UNDERWATER OBJECT Russian patent published in 2019 - IPC G01S1/72 

FIELD: hydroacoustics.

SUBSTANCE: invention relates to underwater navigation, namely to determination of underwater object location by means of hydroacoustic navigation system, and can be used for determination of navigation characteristics (azimuth, elevation angle, range, inclined distance) of underwater object. Said result is achieved due to the fact that on the underwater object a composite beacon-pinger signal is generated and transmitted to the vessel, which consists of the navigation and information parts, using to receive signal from underwater object four-element receiving antenna with spatial arrangement of spherical hydrophones excluding their location in one plane, and maximum distance between hydrophones, not exceeding wave length emitted by beacon-pinger oscillations of navigation part of composite signal, measuring the Cartesian coordinates of the hydrophones of the receiving antenna, determining the phase differences of the navigation beacon of the composite beacon-pinger signal at the outputs of the three pairs of hydrophones of the receiving antenna, calculating azimuth, elevation angle, distance and inclined distance to underwater object using ratios connecting Cartesian coordinates of hydrophones of receiving antenna, measured phase difference of oscillations of the navigation part of the composite beacon-pinger signal at outputs of three pairs of hydrophones of the receiving antenna, frequency of oscillations of the navigation part of the composite signal and depth of submersion of the underwater object, the value of which is transmitted in the information part of the composite signal of the beacon-pinger.

EFFECT: high accuracy of positioning and broader functional capabilities owing to use of a composite navigation-information signal of a beacon-pinger, a four-element receiving antenna with spatial geometry, arrangement of spherical hydrophones and a corresponding procedure for processing signals of the receiving antenna.

9 cl, 6 dwg