|
COMPUTER SCIENCE. CALCULATION EQUIPMENT. MANAGEMENT
Distance measurements with increased accuracy at the task of mooring of autonomous underwater vehicle
I. B. Shirokovab, G. A. Ivanovb a FSAEI of HE "Sevastopol State University", 299053, Sevastopol, ul. University, 33
b Âlack Sea Higher Naval School named after P.S. Nakhimov, 299028, Sevastopol, ul. Dybenko, 1-a
Abstract:
The paper discusses some aspects of creating a local positioning system for autonomous uninhabited
underwater vehicles (AUV) of increased accuracy. It is shown, that the existing systems of mooring of
AUV are extremely inefficient. Such systems are complex, expensive in operation, have low positioning
accuracy, which varies from 1-2 m (in traditional solutions) to several tens of centimeters in advanced
solutions. It is shown, that the majority of positioning systems have a significant drawback: the presence
of a “dead zone” that can reach several meters, which is an insurmountable obstacle and does not allow
using such systems to carry out the mooring operation of AUV at the final stage.
The paper proposes to solve the problem of precision positioning of AUV in the local coordinate system, while the accuracy of measuring distances between reference points of AUV and reference points of
the terminal of communicating (dock) will be three orders of magnitude higher than the accuracy of determining distances by existing systems and be units of millimeters. In this case, the “dead zone” of the
mooring system will be absent. Measurement of distances can be carried out up to full contact of AUV
with the berthing terminal. At the final stage of mooring, the accuracy of measuring distances can reach
fractions of a millimeter and even better. The mooring process of the AUV can be fully automatic. The
state of the aquatic environment in which the AUV is located (temperature, pressure, suspended and dissolved components, etc.) will not matter.
To achieve this goal, it is proposed to use a fundamentally new, patented approach to the problem,
which consists in the fact that when performing a positioning operation, two fundamentally different processes of propagation of low-frequency wave oscillations are used simultaneously: one is acoustic and
the other is electromagnetic. In this case, the received electromagnetic oscillations are used as a reference signal for the received acoustic oscillations. Thus, it is possible to build a phase radio engineering
system, which actually provides the solution to the positioning problem of the AUV with high accuracy.
Keywords:
mooring system for AUV, alternating magnetic field of low frequency, loop magnetic antenna, acoustic oscillations, acoustic transducer, measurement of the phase difference of electrical signals.
Received: 11.03.2019
Citation:
I. B. Shirokov, G. A. Ivanov, “Distance measurements with increased accuracy at the task of mooring of autonomous underwater vehicle”, News of the Kabardin-Balkar scientific center of RAS, 2019, no. 2, 24–36
Linking options:
https://www.mathnet.ru/eng/izkab37 https://www.mathnet.ru/eng/izkab/y2019/i2/p24
|
Statistics & downloads: |
Abstract page: | 55 | Full-text PDF : | 42 | References: | 12 |
|