METHOD OF NAVIGATION SUPPORT OF AUTONOMOUS UNMANNED UNDERWATER VEHICLES Russian patent published in 2020 - IPC G01S15/06 

FIELD: navigation systems.

SUBSTANCE: invention relates to underwater navigation, and more specifically to methods of navigation providing connection of autonomous unmanned underwater vehicles (hereinafter AUUV) with bottom stations. Disclosed is a method of navigating a self-contained autonomous unmanned underwater vehicle when docking with a bottom station using a hydroacoustic navigation system with active formation of a beam pattern, characterized in that for navigation support of autonomous unmanned underwater vehicle bringing to bottom station and its docking with receiving device of bottom station one and the same hydroacoustic navigation system is used, generating lobe beam pattern with variable frequency of hydroacoustic signals emission depending on distance to autonomous unmanned underwater vehicle.

EFFECT: formation of a GANS lobe beam pattern for accurate determination of the position of the AUUV relative to the bottom station and generation of navigation parameters by the hydroacoustic navigation system at a large distance for bringing the autonomous unavailable underwater vehicle to the bottom station, and navigation parameters generation by same hydroacoustic navigation system with required positioning accuracy, for connection of autonomous unmanned underwater vehicle with bottom station receiving device, by increasing the frequency of acoustic signals of the hydroacoustic navigation system installed at the bottom station after reducing the distance between the autonomous unmanned underwater vehicle and the bottom station by a certain value (less than 50 m).

1 cl, 2 dwg