A sum-difference beam acoustic guidance method for unmanned submersibles docking

Abstract

The invention discloses a sound guidance method for a sum-difference beam unmanned submersible. The transmitting end is installed in a recovery base station, and an azimuth beacon and an elevation beacon are provided for generating and transmitting an azimuth signal and an elevation signal; the azimuth beacon Installed horizontally on the recovery base station to provide azimuth angle error signals for the unmanned submersible, the pitch beacon is installed vertically on the recovery base station to provide pitch angle error signals for the unmanned submersible; the control system of the unmanned submersible The direction angle error information is used to control the navigation attitude of the unmanned submersible, so that the unmanned submersible can safely enter the recovery base station. The azimuth beacon and the pitch beacon of the present invention adopt continuous wave operation, and the data rate of the azimuth direction and the pitch direction is high, and the unmanned submersible can update the angle error information of the azimuth direction and the pitch direction in real time, so as to ensure stable and accurate entry into the dock or dock. Only a single receiving hydrophone needs to be installed on the unmanned submersible, which is small in size, low in cost, simple in equipment, and convenient in installation and maintenance.

Description

technical field [0001] The invention belongs to the technical field of navigation guidance for unmanned submersibles, and in particular relates to a sound guidance method for unmanned submersibles with harmonics and difference beams in docking. Background technique [0002] With the rapid development of unmanned submersibles and related technologies, unmanned submersibles have been widely used in various fields such as ocean exploration, reconnaissance, intelligence collection, and mine clearance. In order to accomplish a specific task, the equipment on board the unmanned submersible is either unique or expensive, and the data it collects is also very important. Therefore, the problem of docking and recovery after the unmanned submersible completes its mission must be considered. [0003] The traditional unmanned submersible docking guidance technology mainly includes electromagnetic guidance technology, optical guidance technology and acoustic + robotic arm guidance techno...

AI Technical Summary

Problems solved by technology

Electromagnetic guidance technology has high precision, short action distance and complex recovery system

The optical guidance technology has a limited working distance, is easily affected by the hydrological environment, and cannot be used when the underwater visibility is low

Acoustic + mechanical arm guidance technology needs to install equipment outside the submarine, which will easily lead to increased navigation resistance of the submarine, and the flow noise generated by it will easily affect the maneuverability and concealment of the submarine

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