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SELECTION OF THE OPERATING FREQUENCY OF THE HYDROACOUSTIC SYSTEM FOR REDUCING THE UNDERWATER VEHICLE TO THE DOOR MODULE AND PROPOSALS FOR THE CHOICE OF ITS STRUCTURE
Boris I. Filippov, Novosibirsk State Technical University, Novosibirsk, Russia,
filippov-boris@rambler.ru
Abstract
The proposed work is a continuation (the second 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 first part was published in the previous issue of the magazine.The purpose of this is to develop and study a prototype of the equipment for a short-range high-frequency HNST to ensure the docking of AUV with a carrier. The expediency of constructing the equipment of a high-frequency hydroacoustic system for bringing the AUV to DM in the form of a combined information and navigation system combined on the basis has been substantiated. It can use hydroacoustic navigation systems with short and ultrashort antenna bases; it is proposed to use data signals as navigation signals, which are exchanged between the docking module and the autonomous underwater vehicle based on the results of measuring the mutual navigation characteristics. It is recommended to select the operating frequency in the lower part of the allocated frequency range 100 –: 200 kHz. It should be considered that the accuracy of determining the position of the AUV in the process of alignment can be a variable value: with an increase in the distance to the DM, the errors in estimating the spatial coordinates of the AUV can increase without compromising the functionality of the alignment system. Therefore, in order to select a scenario for the movement of the AUV in the process of alignment, it would be desirable to know the dependence of the errors in estimating its spatial coordinates, admissible when con-trolling the movement of the AUV, on the distance to the DM. In the absence of the indicated dependence, it is possible to take advantage of the somewhat overestimated requirements for the targeting zone for the estimation of the navigation characteristics of the targeting HNST. Then the alignment strategy can be reduced to the choice of the AUV motion scenario, which provides the maximum required accuracy of the estimation of its spatial coordinates in the entire alignment zone. A variant of building an HNST, consisting of unified basic sets of a docking module (BS – DM) and an underwater vehicle (BS — AUV), has been proposed. The basic set of the (BS – AUV) underwater vehicle is similar in structure and function to the basic set of the docking module. Its difference from the (BS-DM) is in the presence of a control unit for the underwater vehicle (CUV), through which signals are exchanged between the (BS — AUV) and the AUV autopilot.
Keywords: autonomous underwater vehicle, docking module, hardware structure hydroacoustic guidance system.
References
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Information about authors:
Boris I. Filippov, Novosibirsk State Technical University, Ph. D. in Technical Scinces, Department of Information Protection, Novosibirsk, Russia