RECOVERY METHOD FOR RECOVERING AN UNDERWATER VEHICLE, RECOVERY DEVICE, SUBMARINE WITH RECOVERY DEVICE, UNDERWATER VEHICLE FOR THIS PURPOSE, AND SYSTEM EQUIPPED THEREWITH

摘要

The invention relates to a recovery method (53) for recovering an underwater vehicle (8) using a recovery device (4) for a submarine (6). The invention further relates to the recovery device (4), the submarine (6), the underwater vehicle (8), and a system (2) comprising the recovery device (4) or the submarine (6) and comprising the underwater vehicle (8). The recovery device (4) has a docking device (10). Waves (19), in particular light waves and/or sound waves, which propagate from multiple markers to at least one sensor (24) between the underwater vehicle (8) and the recovery device (4) are sensed (96) in order to bring (60) the underwater vehicle (8) towards the docking device (10) in a controlled manner. In this manner, the positions and orientations of the recovery device (4) and the underwater vehicle (8) relative to each other are determined (82).