Fixed point stabilization of submarine comprises seeking maximum correlation between variables representing horizontal displacement and depth, and controlling navigation using values obtained

摘要

The invention concerns methods enabling fixed point stabilisation of submarine vehicles in the sea. It consists in emitting (103) a series of sonar signals towards the sea floor (104) and in correlating the signals backscattered by the sea floor and received by the vehicle, with a copy of the first emitted and stored signal. Said correlation bears on a set of values of the vehicle displacement in the horizontal direction and in the vertical direction. The determination of the maximum of said correlation provides the values of said movements. From said measurements the propellers of the vehicle can be controlled by feedback process to be maintained at fixed point, thus facilitating the inspection of submarine structures (102) using various sensors such as a camera borne by the vehicle.