METHOD FOR NAVIGATING A VESSEL THROUGH A MINED SEA AREA Russian patent published in 2021 - IPC B63G7/00 G01S3/80 

FIELD: ships navigating.

SUBSTANCE: invention relates to methods for navigating ships through a mined sea area. When approaching a mined area, the vessel stops the course and launches an autonomous unmanned underwater vehicle (AUV) equipped with mine search equipment. The AUV, under the control of its own control system, dives to a depth optimal for finding mines, turns on all means of searching for mines and starts tacking. In the process of movement, the AUV control system fixes in the memory of the calculator the boundaries of the viewed passage for the absence of mines, and also builds a safe trajectory of the ship in the form of a broken line passing through the middle of the AUV tack. When a mine is detected, the AUV control system builds a route for the vessel to bypass the detected mine. After completing the viewing of the unexplored passage area, the AUV begins to maneuver parallel tacks, but already within the new passage boundaries, but if a new mine is found while viewing the unexplored passage area, the AUV control system re-corrects the ship's trajectory, re-identifies the unexplored passage area, calculates the AUV trajectory, providing a view of the unexplored part of the passage area, and initiates the movement of the AUV along this trajectory. When leaving the mined area, the AUV floats to the surface and transmits to the ship the constructed trajectory of the vessel passing through the mined area in the form of the coordinates of the turning points, as well as the coordinates of the mines detected, the ship passes the area along the trajectory received from the AUV, upon completion of the passage, takes the AUV to board and continues to move along the planned route.

EFFECT: ensuring the search for a safe passage through a mined area using an autonomous unmanned underwater vehicle AUV.

1 cl, 6 dwg