INTEGRATED SYSTEM FOR NAVIGATION AND CONTROLLING MOVEMENT FOR SELF-CONTAINED UNMANNED UNDERWATER VEHICLES

摘要

FIELD: radio engineering, communication.;SUBSTANCE: integrated system for navigation and controlling movement of a self-contained unmanned underwater vehicle has a ship-borne post for controlling movement of the self-contained unmanned underwater vehicle with a hydroacoustic remote control unit mounted on a support ship. The self-contained unmanned underwater vehicle is fitted with transceiving units of a hydroacoustic navigation system with a long base, a hydroacoustic remote control and communication system, navigation-piloting sensors, a local area network, a hydroacoustic Doppler log, a gyrocompass and/or an inertial navigation system, a satellite navigation system receiver, a magnetic compass, a depth measuring device, a steering mechanism control system having a computer. The self-contained unmanned underwater vehicle is also fitted with equipment for conducting hydrological investigations. The steering mechanism control system includes channels for generating stabilisation signals for roll, trim, depth and heading, and further includes a multi-beam echo sounder, an acoustic Doppler flow metre; the hydroacoustic Doppler log is configured to operate on volume reverberation signals; the hydroacoustic navigation system with a long base has at least eight bottom transponder beacons.;EFFECT: high accuracy of determining coordinates of a self-contained unmanned underwater vehicle and enabling stabilisation of parameters of the vehicle on depth, trim and heading.;10 dwg