+7 (495) 957-77-43
Контакты

T-Comm_Article 7_6_2021

Извините, этот техт доступен только в “Американский Английский”. For the sake of viewer convenience, the content is shown below in the alternative language. You may click the link to switch the active language.

THE CHOICE OF SIGNALS FOR HYDROACOUSTIC NAVIGATION SYSTEM OF TRANSFORMATION UNDERWATER APPARATUS TO DOCKING MODULE

Boris I. Filippov, Novosibirsk State Technical University, Novosibirsk, Russia,
filippov-boris@rambler.ru

Abstract
The proposed work is the first part of the overall work on the development of the structure of the hydroacoustic navigation system (HNST) for bringing the autonomous underwater vehicle (AUV) to the docking module (DM). The second (final) part will be published in the next issue of the journal. The purpose of this work is to select signals for building HNST providing reduction in a near zone at the distances not exceeding 300 m, an AUV and its docking with the carrier is considered. Mutual definition of a distance and angular position DM of the carrier and AUV relative to each other is carried out for this purpose. Determination of mutual angular coordinates can be carried out with use of HNST with short and ultra-short base. HNST with short base is preferable for realization from the point of view of simplicity. However, its installation on the AUV can be impossible because of rather small sizes of the device, and on AUV should be installed HNST with ultra-short base. HNST with short base can be established on the docking module. Since there are no reasons to assume the high speed of change of the phase characteristic of the developed high-frequency channel of transformation therefore the interval of stationarity of the phase characteristic should be significantly more than duration of a symbol at a speed of transfer of 4 kBit/s. Therefore, it is advisable to exchange measurement data between AUV and DM in the composition of HNST by relative phase modulation (DPSM). Reception of signals is performed by a suboptimal incoherent receiver on which entrance deep restriction of an entrance signal is carried out. The use of deep signal limitation at the receiver input allows to exclude operation of automatic control of strengthening at a stage of entry into communication, as a result, it is possible to reduce the duration of communication sessions. In the combined information navigation system, it is expedient: to apply as navigation signals of data exchanged between AUV and DM based on the results of mutual measurement of navigation parameters; to carry out data exchange between AUV and DM by method DPSM with a speed V = 4 kBit/s; to carry out transfer of the block of data with application of the correcting block cyclic code ; to apply to reception of a block of data diversity reception in combination with majority decoding characters, and then correct errors in the data block with the help of code, and to accompany the issuance of data to the user sign detection code errors in the block.

Keywords: the hydroacoustic navigation system of transformation, autonomous underwater vehicle, the docking module, navigation parameter.

References

  1. I. Filippov (2019). Digital transmission of information in hydroacoustic telemetry systems. Saratov: IPR Media. 290 p.
  2. M. Brehovskih, Ju.P. Lysanov (1982). Theoretical bases of acoustics of the ocean. L.: Gidrometeoizdat. 264 p.
  3. D. Ageev, B.A. Kasatkin, L.V. Kiselev i dr. (1981). Automatic underwater vehicles. L.: Sudostroenie. 224p.
  4. F. Filaretov, D.A. Juhimec (2011). Method of formation of the program control by the speed mode of motion of the underwater vehicle along arbitrary spatial trajectories with a set dynamic accuracy. Izvestija RAN. Teorija i sistemy upravlenija. No. 4. P. 167-170.
  5. V. Kiselev (1997). The organization of the spatial movement of the independent underwater vehicle at trajectory inspection of objects, areas of physical fields. Avtoreferat. dissertacii na soiskanie uchenoj stepeni doktora tehnicheskih nauk. spec. 05.13.01.
  6. F. Filaretov, A.V. Lebedev, D.A. Juhmanec (2005). Devices and control systems of underwater robots. Moscow: Nauka. 213 p.
  7. D.S. Kabanov (2014). Synthesis of an algorithm optimum programmatically – position control of the multi-mode automatic underwater vehicle. Mehatronika, avtomatizacija, upravlenie. No.1. P. 60-
  8. A. Bobkov (2016). Navigation of an underwater robot by using stereo images. Mehatronika, avtomatizacija , upravlenie. Vol. 17, No. 2. P. 101-109.
  9. Henriksen, Lars. (1994). Real-time underwater object detection based on an electrically scanned highresolution sonar. In Proceedings of the Symposium on Autonomous Underwater Vehicle Technology. P. 99-104.
  10. F. Filaretov, D.A. Juhimec, Je.Sh. Mursalimov, I.E. Tufanov (2014). A new method of contour motion control AUUV. Mehatronika, avtomatizacija, upravlenie. No. 8. P. 46-56.
  11. A. Kushnerik, D.N. Mihajlov, N.S. Sergienko, A.F. Shherbatjuk, V.A Goj, I.E Tufanov, F.S. Dubrovin (2014). Marine robotic complex, including Autonomous unmanned underwater and water vehicles. Mehatronika, avtomatizacija, upravlenie. No. 3. P. 67-72.
  12. I. Filppov (2016). Energy calculation of hydroacoustic communication lines. Vestnik AGTU. Serija: Upravlenie, vychislitel’naja tehnika i informatika. No. 3. P. 67-77.
  13. I. Filippov, G.A. Chernetsky (2017). Principles of hardware implementation of the range measurement system in hydroacoustic channels. Radiotekhnika. No. 3. P. 40-49.
  14. I. Filippov (2019) Architecture of a short-base hydroacoustic navigation system for bringing the underwater vehicle to the docking module. Mechatronics, automation, control. Vol. 20, No. 3. P. 152-161.
  15. I. Filippov, A.O. Kozhaeva (2019) Determination of the slope distance in the equipment of the high-frequency hydroacoustic system for bringing the underwater vehicle to the docking module. Radiotekhnika. Vol. 83, No. 3. P. 84-95.
  16. E. Varakin L.E. (1985). Communication systems with noise-type signals. Moscow: Radio i svjaz’. 384 p.
  17. Mel’nikov Ju. N. (1973). Dostovernost’ informacii v slozhnyh sistemah Reliability of information in complex systems. Moscow: Sov. Radio. 317 p.
  18. Piterson U., Ujeldon Je. (1976). The codes correcting errors. Moscow: Mir. 594 p.
  19. Penin P.I. (1976). Transmission system of digital information. Moscow: Sov. Radio. 294 p.
  20. Filippov B.I. (2016). Features of synchronization of the equipment of communication in the systems of hydroacoustic telemetry. Vestnik PGTU. Serija radiotehnicheskie i infokommunikacionnye sistemy. No. 3. P. 31-44.
  21. GOST 17422-82. Systems of data transmission. Speeds of data transmission and key parameters of noiseproof cyclic codes.

Information about author:

Boris I. Filippov, Novosibirsk State Technical University, Ph. D. in Technical Scinces, Department of Information Protection, Novosibirsk, Russia