METHOD OF HIGH-SPEED UNDERWATER VEHICLE COORDINATES DETERMINATION USING DOPPLER EFFECT Russian patent published in 2020 - IPC G01S15/58 

FIELD: physics; vessels and other floating facilities.

SUBSTANCE: disclosed method relates to underwater navigation and can be used in solving the problem of determining the location of high-speed autonomous unmanned underwater vehicles (AUUV) based on information on Doppler shift of frequency of hydroacoustic signal from one output buoy. Increased self-sufficiency is ensured by the design of the apparatus allowing to accommodate an output buoy, which is separated by the control system command. Buoy is equipped with a buoyancy device, due to which it floats to the surface after separation. Satellite signal receiver and the hydroacoustic communication modem located on the output buoy enable to obtain the geographic coordinates of the output buoy and transmit them to the AUUV. Equipment for receiving hydroacoustic signals from an output buoy, which is mounted on the AUUV, enables to obtain not only its geographic coordinates, but also to measure Doppler signal frequency shift, which enables to calculate radial (Doppler) velocity. Having at least two measurements of Doppler frequency shift, it is possible to calculate inclined distances to outlet buoy according to information on Doppler speed and speed of flight and determine bearing on output buoy with due allowance for data on course and depth of subsidence of AUUV, which will enable to obtain in the end the geographical coordinates of AUUV.

EFFECT: technical result is increasing autonomy of AUUV in part of navigation in the absence of requirements for time synchronization of output buoy and AUUV, as well as to presence of acoustic transmitting equipment on AUUV with radiating antenna.

1 cl, 1 dwg