Distance measurements with increased accuracy at the task of mooring of autonomous underwater vehicle

I. B. Shirokov ; G. A. Ivanov

News of the Kabardin-Balkar scientific center of RAS, no. 2 (2019), pp. 24-36.

Résumé

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.

Détail

Keywords: mooring system for AUV, alternating magnetic field of low frequency, loop magnetic antenna, acoustic transducer, measurement of the phase difference of electrical signals.
Mots-clés : acoustic oscillations

Bibliographie

[1] M. D. Ageyev, Autonomous un-derwater robots. Systems and technologies, Nauka, M, 2005, 400 pp.

[2] G. Yu. Illarionov, K. S. Sidenko, L. Yu. Bocharov, Threat from the depths: XXI century, KGUP Khabarovskaya krayevaya tipografiya, Khabarovsk, 2011, 304 pp.

[3] G. Yu. Illarionov, K. S. Sidenko, V. V. Sidorenko, Underwater robots in a mine war, Monograph, JSC «Yantarnyy skaz», Kaliningrad, 2008, 116 pp.

[4] Uninhabited underwater vehicles for military purposes, Under editorialship of academician M.D. Ageyev, Dal'nauka, Vladivostok, 2005, 164 pp.

[5] http://auvac.org/configurations/view/14Ccea AN/BLQ-11

[6] G. YU. Illarionov, A. F. Shcherbatyuk, A. A. Kushnerik, A. G. Kvashnin, “Donnyye prichal'nyye ustroystva dlya avtonomnykh neobitayemykh podvodnykh apparatov [Bottom mooring devices for autonomous uninhabited underwater vehicles]”, Dvoynyye tekhnologii, 2011, no. 1 (54), 13–21 | MR

[7] S. Cowen, S. Briest, J. Dombrowski, Oceans `97, MTS, IEEE Conference, 2, 1997

[8] R. Stokey, M. Purcell, N. Forrester, T. Austin, R. Goldsborough, B. Allen, von Alt C, Oceans `97, MTS, IEEE Conference, 2, 1997

[9] M. D. Feezor, F. Y. Sorrell, P. R. Blankinship, J. G. Bellingham, “Autonomous Underwater Vehicle Homing / Docking via Electromagnetic Guidance”, Journal of oceanic engineering, 26:4, October (2001), 515–521 | DOI

[10] I. N. Nosov, Gidroakusticheskaya svyaz' i gidroakustich-eskiye sredstva avariyno-spasatel'nogo naznacheniya, Vliyaniye spetsifiki bazirovaniya avtonomnogo neobitayemogo podvodnogo apparata na podvodnom nositele na trebovaniya k gidroakusticheskim sredstvam navigatsii i svyazi [Influence of the specifics of basing an autonomous uninhabited underwater vehicle on an underwater carrier on the requirements for sonar navigation and communications], Sbornik dokladov VI nauchno-prakticheskoy konferentsii, 2013, 115–117

[11] V. M. Lekomtsev, D. V. Titarenko, “Gidroakusticheskiye sredstva vizualizatsii dlya neobitaye-mykh podvodnykh apparatov [Hydroacoustic visualization tools for uninhabited underwater vehicles]”, Morskiye informatsionno-upravlyayushchiye sistemy, 2014, no. 3 (6), 14–19

[12] Allen B. Austin T., N. Forester, Autonomous docking. Demonstration with enhanced RE-MUS technology, Oceanographic System Laboratory, Woods Hole, MA 02543, USA

[13] http://www.hydroidinc.com/pdfs/Remus

[14] R. Stokey, M. Purcell, N. Forrester, T. Austin, “A docking System for REMUS, An Autonomus Underwater Vehicle”, OCEANS 97, 2 (1997), 1132–1136

[15] T. Stokey R. Austin, C. von Alt, R. Arthur, Goldsborough R. Rats, OCEANS-97, MTS, IEEE Conference Proceedings, 1, 1997

[16] Coulson R. Lambiotte J., E. An, “A modular docking system for 12.75-inch class. AUVs”, Sea Technology, 2005, 49–54

[17] B. V. Gurenko, “Razrabotka algoritmov sblizheniya i stykovki avtonomnogo neobitayemogo podvodnogo apparata s podvodnoy stantsiyey bazirovaniya [Development of algorithms for ap-proaching and docking an autonomous uninhabited underwater vehicle with an underwater base station]”, Izvestiya YUFU. Tekhnicheskiye nauk Publishing house, 2015, no. 2 (163), 162–172, Southern Federal University, Rostov-on-Don

[18] I. B. Shirokov, Sposob izmereniya dal'nosti [The method of measuring the distance], Patent for invention No2657016, MPK G01S 15/08 (2018.01). Application No2017123966/93 ot Printed 08.06.2018, Bull. No16, RF

[19] I. B. Shirokov, Sposob izmereniya dal'nosti [The method of measuring the distance], Patent for invention No2679000, MPK G01S 13/32 (2006.01). Application No2018111959 ot Printed 05.02.2019 Bull.No4, RF

[20] I. B. Shirokov, Patenty RF: 2584977, 2584978, 2584979, 2584980, 2584981, 2584982, 2584983, 2584967, 2584974, 2594339, 2594340, 2600563

[21] I. B. Shirokov, RF, USSR patents: A.C. 1334228, A.C. 1486942, A.C. 1730689, A.C. 1718149, 2584968, 2584969, 2584972, 2584975, 2584976, 2594333, 2594335, 2594336, 2594337, 2594341, 2594343, 2594345, 2595247