RU2726388C1 - Method of positioning a surface/underwater object as it passes along a given fairway - Google Patents

Abstract

FIELD: measurement.SUBSTANCE: method of positioning a surface/underwater object as it passes through a given fairway relates to radio engineering equipment for positioning, based on measuring distances under water and can be used, for example, for positioning surface/underwater objects in local navigation systems when controlling their movement. Novelty in the method of positioning a surface/underwater object is to use simultaneously two methods of propagation of wave processes based on different physical principles, both of which are suitable for transmitting signals under water. At the same time for each method of propagation of wave processes several channels of information transfer are used. When using the first wave propagation method, in the first several channels of information transfer one uses inductive coupling of one transmitting and several receiving frame magnetic antennae. Presence of electric conductivity of water does not affect the operation of these channels. By means of these channels, in-phase continuous electric oscillations of audio frequency are formed at the measuring station, which are located on the monitored object, and at the relay stations placed under water and determining the specified fairway. At that, these electric oscillations of audio frequency are modulated in amplitude and in time in time by several signals of sub-tone frequency. Number of sub-tone frequency signals is set by the number of repeater stations located in the controlled fairway. At the relay stations, the received in-phase and amplitude-modulated electric oscillations of the audio frequency are folded together and amplified in one channel until limitation, and in the other channel, the demodulated signal is demodulated and sent to the input of the frequency sub-tone frequency discriminator, signals from the outputs of which the corresponding electronic switch is closed. Amplitude-limited audio signal is transmitted to an acoustic transducer of the same repeater station, the number of which was identified in the frequency discriminator. Thus, an acoustic transducer of a given relay station in a second information channel using another wave process generates an acoustic wave. Actually phase incursion of acoustic wave of low audio frequency is information parameter of determination of distance from acoustic transducer of measuring station, located on object, to acoustic transducer of relay station located in reference point of controlled fairway. At the measurement station itself, the acoustic wave is received and converted into an electrical signal and further successive change of frequency of continuous electric oscillations of audio frequency and accompanying measurement of phase difference of electric signals generated as a result of conversions in an acoustic channel, unambiguously determine distance from acoustic transducer of measuring station, located on the object, to the acoustic transducer of the relay station located in the reference point of the controlled fairway in the local near-range navigation system.EFFECT: successively in time at measuring station modulation signal of sub-tone frequency is changed, this change is detected at location of relay stations and then, according to the given algorithm, the distance from the measurement station located on the object to each necessary and sufficient relay station located in the reference point of the controlled fairway is determined.1 cl, 1 dwg

Description

The invention relates to the field of radio positioning equipment, based on measurements of distances under water and can be used, for example, for positioning surface / underwater objects in local navigation systems when controlling their movement.

Known amplitude methods for measuring the range (see, for example, the book. Handbook of the basics of radar technology / edited by V. V. Druzhinin. - M .: Military. Publishing house, 1967). However, amplitude methods for measuring range have a large error.

The closest in technical essence to the proposed invention is a method for measuring range, with its modifications, described in Patents for invention No. 2657016, No. 2679000 and No. 2697861 Russia, IPC G01S 15/08, G01S 13/32, SPK G01S 15/08.

, при этом непрерывные электрические колебания подают на вход передающей рамочной магнитной антенны, которую устанавливают на измерительной станции и излучают, таким образом, в направлении объекта, расстояние до которого необходимо измерить, переменное магнитное поле, после чего на другом конце измерительной трассы переменное магнитное поле улавливают приемной рамочной магнитной антенной, которую устанавливают на контролируемом объекте, после чего принятые непрерывные электрические колебания усиливают и подают на вход передающего акустического преобразователя, который устанавливают на контролируемом объекте, и излучают, таким образом, акустическую волну, после чего акустическую волну улавливают приемным акустическим преобразователем, который устанавливают на измерительной станции, после чего измеряют и фиксируют разность фаз $$\Delta {\phi }_{\text{m1}}$$

между непрерывными электрическими колебаниями, формируемыми на выходе генератора непрерывных электрических колебаний и на выходе приемного акустического преобразователя, после чего генерируют непрерывные электрические колебания с известной фиксированной частотой $$f_2$$

и повторяют всю процедуру излучения, приема переменного магнитного поля и акустической волны, а также измеряют и фиксируют разность фаз $$\Delta {\phi }_{\text{m2}}$$

между непрерывными электрическими колебаниями, формируемыми на выходе генератора непрерывных электрических колебаний и на выходе приемного акустического преобразователя, после чего определяют разность фаз $$\Delta \phi =\Delta {\phi }_{\text{m1}}-\Delta {\phi }_{\text{m2}}$$

, при этом расстояние между передающим акустическим преобразователем, установленным на контролируемом объекте, и приемным акустическим преобразователем, установленным на измерительной станции, определяют по формуле:According to the method of measuring the range, described in patent No. 2679000, continuous electrical oscillations with a known fixed frequency are generated in the measuring station $$f_{}$$$${}_1$$

, while continuous electrical vibrations are fed to the input of the transmitting loop magnetic antenna, which is installed at the measuring station and, thus, emitted in the direction of the object, the distance to which it is necessary to measure, an alternating magnetic field, after which the alternating magnetic field is captured at the other end of the measuring path a receiving loop magnetic antenna, which is installed on the monitored object, after which the received continuous electrical oscillations are amplified and fed to the input of the transmitting acoustic transducer, which is installed on the monitored object, and thus emit an acoustic wave, after which the acoustic wave is captured by the receiving acoustic transducer, which is installed at the measuring station, after which the phase difference is measured and recorded $$\Delta {\phi }_{\text{m1}}$$

between continuous electrical oscillations formed at the output of the generator of continuous electrical oscillations and at the output of the receiving acoustic transducer, after which continuous electrical oscillations are generated with a known fixed frequency $$f_{}$$$${}_2$$

and repeat the entire procedure of radiation, reception of an alternating magnetic field and acoustic wave, and also measure and record the phase difference $$\Delta {\phi }_{\text{m2}}$$

between continuous electrical oscillations formed at the output of the generator of continuous electrical oscillations and at the output of the receiving acoustic transducer, after which the phase difference is determined $$\Delta \phi =\Delta {\phi }_{\text{m1}}-\Delta {\phi }_{\text{m2}}$$

, while the distance between the transmitting acoustic transducer installed on the controlled object and the receiving acoustic transducer installed at the measuring station is determined by the formula:

, $$D=\frac{\Delta \phi c_a}{2\pi \left(f_1-f_2\right)}$$

,

— скорость звука в среде распространения, причем место размещения передающей и приемной рамочных магнитных антенн не имеет значения.Where $$c_a$$

- the speed of sound in the propagation medium, and the location of the transmitting and receiving loop magnetic antennas does not matter.

However, this method of measuring the range can be implemented at limited distances, and between one measuring station and one controlled object. The limited range is determined by the rapid decay of the alternating magnetic field as it propagates over a known distance. The attenuation of the alternating magnetic field is inversely proportional to the cube of the propagation distance. With a limited and acceptable energy of this communication line, given by the intensity of the emitted alternating magnetic field, which is determined, in turn, by the transmitter power and the parameters of the transmitting loop magnetic antenna of the measuring station, as well as the parameters of the receiving loop magnetic antenna and the sensitivity of the receiver of the repeater station, the distance at which it is possible to capture and use for its intended purpose an alternating magnetic field is estimated at a hundred meters or so. In addition, in order to navigate a given fairway, it is necessary to control the distances to several reference points, which can be located from each other at distances much more than a hundred meters. The length of the monitored fairway can be calculated in a kilometer or more. Thus, it is not possible to use the described method of measuring the range for positioning a surface / underwater object when it passes along a given fairway.

, при этом эти непрерывные электрические колебания звуковой частоты подают первый вход измерителя разности фаз и на сигнальный вход амплитудного модулятора, при этом на модуляционный вход амплитудного модулятора подают непрерывные электрические колебания субтоновой частоты $$F_1$$

, которые также генерируют на измерительной станции, причем значение субтоновой частоты $$F_1$$

соответствует номеру первой ретрансляторной станции, расстояние до которой необходимо измерить, и формируют, таким образом, электрический сигнал звуковой частоты $$f_1$$

, модулированный по амплитуде сигналом субтоновой частоты $$F_1$$

с неглубоким уровнем модуляции, при этом сигнал с выхода амплитудного модулятора подают на вход передающей рамочной магнитной антенны, которую устанавливают на измерительной станции и излучают, таким образом, в широком секторе углов переменное магнитное поле звуковой частоты $$f_1$$

, после чего на другом конце измерительной трассы, в нескольких ее точках переменное магнитное поле одновременно улавливают несколькими приемными рамочными магнитными антеннами, которые устанавливают в нескольких точках по пути следования контролируемого объекта в заданном фарватере, причем места установки приемных рамочных магнитных антенн не обязательно должны совпадать с местами установки ретрансляторных станций, расстояния до которых необходимо измерить и которые определяют заданный фарватер, причем расстояние между соседними приемными рамочными магнитными антеннами устанавливают в соответствии с заданной энергетикой линии связи, использующей для связи переменное магнитное поле звуковой частоты, причем приемные рамочные магнитные антенны устанавливают как вдоль заданного фарватера, так и поперек его, и покрывают, тем самым, всю необходимую площадь уверенного приема сигнала передающей рамочной магнитной антенны измерительной станции хотя бы одной приемной рамочной магнитной антенной, после чего принятые всеми приемными рамочными магнитными антеннами непрерывные электрические колебания звуковой частоты $$f_1$$

, модулированные по амплитуде колебаниями субтоновой частоты $$F_1$$

складывают вместе, и далее в одном канале этот суммарный электрический сигнал усиливают до ограничения, устраняя тем самым амплитудную модуляцию электрических колебаний звуковой частоты электрическими колебаниями субтоновой частоты, а в другом канале суммарный электрический сигнал демодулируют и выделяют электрические колебания субтоновой частоты $$F_1$$

, значение которой затем определяют в частотном дискриминаторе, и определяют, тем самым, номер первой ретрансляторной станции, расстояние до которой от измерительной станции необходимо измерить, после чего усиленные до ограничения электрические колебания звуковой частоты $$f_1$$

подают на сигнальные входы управляемых электронных ключей, на управляющие входы которых подают сигналы частотного дискриминатора и замыкают только первый электронный ключ, который соответствует выбранной и идентифицированной в частотном дискриминаторе первой ретрансляторной станции, таким образом, усиленные до ограничения электрические колебания звуковой частоты $$f_1$$

подают на вход акустического преобразователя первой ретрансляторной станции, расстояние до которой необходимо измерить и излучают акустическим преобразователем первой ретрансляторной станции акустическую волну, которую принимают акустическим преобразователем измерительной станции контролируемого объекта, после чего принятые и преобразованные акустическим преобразователем измерительной станции электрические колебания звуковой частоты $$f_1$$

подают на второй вход измерителя разности фаз измерительной станции, после чего измеряют и фиксируют разность фаз $$\Delta {\phi }_{\text{m11}}$$

между непрерывными электрическими колебаниями звуковой частоты $$f_1$$

, первично сформированными на измерительной станции и непрерывными электрическими колебаниями звуковой частоты $$f_1$$

, полученными на выходе акустического преобразователя измерительной станции контролируемого объекта, после чего на измерительной станции генерируют непрерывные электрические колебания звуковой частоты с другой известной фиксированной частотой $$f_2$$

и повторяют всю процедуру модуляции, излучения, приема, переменного магнитного поля, демодуляции и ограничения электрических сигналов, частотной дискриминации, излучения и приема акустической волны, и также измеряют и фиксируют разность фаз $$\Delta {\phi }_{\text{m12}}$$

между непрерывными электрическими колебаниями звуковой частоты $$f_2$$

, первично сформированными на измерительной станции и электрическими колебаниями звуковой частоты $$f_2$$

, полученными на выходе акустического преобразователя измерительной станции контролируемого объекта, при этом определяют разность фаз $$\Delta {\phi }_1=\Delta {\phi }_{m11}-\Delta {\phi }_{m12}$$

, при этом расстояние между акустическим преобразователем измерительной станции контролируемого объекта и акустическим преобразователем первой ретрансляторной станции определяют по формуле:The aim of the present invention is to realize the possibility of positioning a surface / underwater object when it passes along a given fairway. This goal is achieved by the fact that, according to the method of positioning a surface / underwater object when it passes along a given fairway, initially at the measuring station of the controlled object, continuous electrical oscillations with a known fixed sound frequency are generated $${\mathrm{<figure-callout\; id="1"\; label="f"\; filenames="00000070.png"\; state="\{\{state\}\}">f</figure-callout>}}_1$$

, while these continuous electrical oscillations of the audio frequency are fed to the first input of the phase difference meter and to the signal input of the amplitude modulator, while continuous electrical oscillations of the sub-tone frequency are fed to the modulation input of the amplitude modulator $$F_{}$$$${}_1$$

, which are also generated at the measuring station, and the value of the sub-tone frequency $$F_{}$$$${}_1$$

corresponds to the number of the first repeater station, the distance to which must be measured, and thus form an electrical signal of audio frequency $$f_{}$$$${}_1$$

amplitude modulated by a sub-tone signal $$F_{}$$$${}_1$$

with a shallow modulation level, while the signal from the output of the amplitude modulator is fed to the input of the transmitting loop magnetic antenna, which is installed at the measuring station and, thus, in a wide sector of angles, an alternating magnetic field of audio frequency $$f_{}$$$${}_1$$

, after which at the other end of the measurement track, at several of its points, the alternating magnetic field is simultaneously captured by several receiving loop magnetic antennas, which are installed at several points along the route of the monitored object in a given fairway, and the installation locations of the receiving loop magnetic antennas do not have to coincide with the places of installation of repeater stations, the distances to which must be measured and which define a given fairway, and the distance between adjacent receiving loop magnetic antennas is set in accordance with the specified energy of the communication line using an alternating magnetic field of audio frequency for communication, and the receiving loop magnetic antennas are installed both along of a given fairway and across it, and thus cover the entire necessary area of reliable reception of the signal of the transmitting loop magnetic antenna of the measuring station at least one receiving loop magnetic antenna , after which the continuous electrical oscillations of the audio frequency received by all receiving loop magnetic antennas $$f_{}$$$${}_1$$

amplitude modulated by sub-tone frequency oscillations $$F_{}$$$${}_1$$

are added together, and then in one channel this total electrical signal is amplified to limitation, thereby eliminating the amplitude modulation of electrical oscillations of the audio frequency by electrical oscillations of the sub-tone frequency, and in the other channel the total electrical signal is demodulated and the electrical oscillations of the sub-tone frequency are isolated $${\mathrm{<figure-callout\; id="1"\; label="F"\; filenames="00000070.png"\; state="\{\{state\}\}">F</figure-callout>}}_1$$

, the value of which is then determined in the frequency discriminator, and thus the number of the first repeater station is determined, the distance to which from the measuring station must be measured, after which the electric oscillations of the audio frequency amplified to limitation $$f_{}$$$${}_1$$

are fed to the signal inputs of controlled electronic keys, to the control inputs of which the signals of the frequency discriminator are fed and only the first electronic key is closed, which corresponds to the first repeater station selected and identified in the frequency discriminator, thus amplified to limitation electrical oscillations of the audio frequency $$f_{}$$$${}_1$$

an acoustic wave is fed to the input of the acoustic transducer of the first repeater station, the distance to which is to be measured and an acoustic wave is emitted by the acoustic transducer of the first repeater station, which is received by the acoustic transducer of the measuring station of the controlled object, after which electrical vibrations of audio frequency are received and converted by the acoustic converter of the measuring station $$f_{}$$$${}_1$$

is fed to the second input of the phase difference meter of the measuring station, after which the phase difference is measured and recorded $$\Delta {\phi }_{\text{m11}}$$

between continuous electrical vibrations of sound frequency $$f_{}$$$${}_1$$

, primarily formed at the measuring station and continuous electrical vibrations of audio frequency $$f_{}$$$${}_1$$

obtained at the output of the acoustic transducer of the measuring station of the controlled object, after which continuous electrical oscillations of the audio frequency are generated at the measuring station with another known fixed frequency $$f_{}$$$${}_2$$

and repeat the whole procedure of modulation, emission, reception, alternating magnetic field, demodulation and limiting of electrical signals, frequency discrimination, emission and reception of an acoustic wave, and also measure and record the phase difference $$\Delta {\phi }_{\text{m12}}$$

between continuous electrical vibrations of sound frequency $$f_{}$$$${}_2$$

, primarily formed at the measuring station and electrical vibrations of audio frequency $$f_{}$$$${}_2$$

obtained at the output of the acoustic transducer of the measuring station of the controlled object, while determining the phase difference $$\Delta {\phi }_{}$$$${}_1=\Delta {\phi }_{m\mathrm{eleven}}-\mathrm{<figure-callout\; id="12"\; label="\Delta \; \phi \; m"\; filenames="00000070.png"\; state="\{\{state\}\}">\Delta \; </figure-callout>}{\phi }_m{12}_{}$$

, while the distance between the acoustic transducer of the measuring station of the controlled object and the acoustic transducer of the first repeater station is determined by the formula:

, $${\mathrm{<figure-callout\; id="1"\; label="D"\; filenames="00000070.png"\; state="\{\{state\}\}">D</figure-callout>}}_1=\frac{\Delta {\phi }_1{c}_a}{2\pi \left(f_1-f_2\right)}$$

,

— скорость звука в среде распространения, после чего на измерительной станции генерируют непрерывные электрические колебания с другой субтоновой частотой $$F_2$$

, причем значение субтоновой частоты $$F_2$$

соответствует номеру второй ретрансляторной станции, расстояние до которой необходимо измерить, после чего вновь повторяют вновь процедуру формирования электрических колебаний с известной фиксированной звуковой частотой $$f_1$$

и также эти колебания модулируют электрическими колебаниями, но только субтоновой частоты $$F_2$$

, после чего вновь излучают и принимают переменное магнитное поле рамочными магнитными антеннами, вновь в первом канале ограничивают по амплитуде принятый рамочными магнитными антеннами суммарный сигнал, вновь во втором канале демодулируют принятый рамочными магнитными антеннами суммарный сигнал, но при этом идентифицируют в частотном дискриминаторе сигнал субтоновой частоты $$F_2$$

и по этому факту замыкают второй электронный ключ и усиленные до ограничения непрерывные колебания звуковой частоты $$f_1$$

подают на акустический преобразователь второй ретрансляторной станции, расстояние до которой нужно измерить, после чего излучают и принимают акустическую волну и далее по процедуре измеряют и фиксируют разность фаз $$\Delta {\phi }_{m21}$$

между непрерывными электрическими колебаниями звуковой частоты $$f_1$$

, первично сформированными на измерительной станции и непрерывными электрическими колебаниями звуковой частоты $$f_1$$

, полученными на выходе акустического преобразователя измерительной станции контролируемого объекта, после чего вновь на измерительной станции формируют колебания звуковой частоты $$f_2$$

и повторяют всю процедуру модуляции, излучения, приема электрического сигнала, а также процедуру излучения и приема акустического сигнала, после чего по процедуре измеряют и фиксируют разность фаз $$\Delta {\phi }_{m22}$$

, при этом определяют разность фаз $$\Delta {\phi }_2=\Delta {\phi }_{m21}-\Delta {\phi }_{m22}$$

, при этом расстояние между акустическим преобразователем измерительной станции контролируемого объекта и акустическим преобразователем второй ретрансляторной станции определяют по формуле:Where $$c_a$$

- the speed of sound in the propagation medium, after which continuous electrical vibrations with a different sub-tone frequency are generated at the measuring station $$F_{}$$$${}_2$$

, and the value of the subtone frequency $$F_{}$$$${}_2$$

corresponds to the number of the second repeater station, the distance to which must be measured, after which the procedure for generating electrical oscillations with a known fixed sound frequency is repeated again $${\mathrm{<figure-callout\; id="1"\; label="f"\; filenames="00000070.png"\; state="\{\{state\}\}">f</figure-callout>}}_1$$

and also these oscillations are modulated by electrical oscillations, but only of the sub-tone frequency $$F_{}$$$${}_2$$

, after which the alternating magnetic field is again emitted and received by loop magnetic antennas, again in the first channel the total signal received by the loop magnetic antennas is limited in amplitude, again in the second channel the total signal received by the loop magnetic antennas is demodulated, but at the same time the sub-tone frequency signal is identified in the frequency discriminator $$F_{}$$$${}_2$$

and on this fact, the second electronic key is closed and continuous vibrations of the audio frequency amplified to the limit $$f_{}$$$${}_1$$

is fed to the acoustic transducer of the second repeater station, the distance to which must be measured, after which an acoustic wave is emitted and received and then the phase difference is measured and recorded according to the procedure $$\Delta {\phi }_{m21}$$

between continuous electrical vibrations of sound frequency $$f_{}$$$${}_1$$

, primarily formed at the measuring station and continuous electrical vibrations of audio frequency $$f_{}$$$${}_1$$

, obtained at the output of the acoustic transducer of the measuring station of the controlled object, after which, again at the measuring station, oscillations of the audio frequency are formed $$f_2$$

and repeat the entire procedure of modulation, emission, reception of an electrical signal, as well as the procedure for emission and reception of an acoustic signal, after which the phase difference is measured and recorded according to the procedure $$\Delta {\phi }_{m22}$$

, while determining the phase difference $$\Delta {\phi }_{}$$$${}_2=\Delta {\phi }_{m21}-\Delta {\phi }_{m22}$$

, while the distance between the acoustic transducer of the measuring station of the controlled object and the acoustic transducer of the second repeater station is determined by the formula:

, $${\mathrm{<figure-callout\; id="2"\; label="D"\; filenames="00000070.png"\; state="\{\{state\}\}">D</figure-callout>}}_2=\frac{\Delta {\phi }_2{c}_a}{2\pi \left(f_1-f_2\right)}$$

,

, причем значение субтоновой частоты $$F_3$$

соответствует номеру третьей ретрансляторной станции, расстояние до которой необходимо измерить, после чего вновь последовательно повторяют всю процедуру формирования, модуляции, излучения и приема электрических и акустических сигналов, после чего получают разность фаз сигналов $$\Delta {\phi }_3$$

, при этом расстояние $$D_3$$

между акустическим преобразователем измерительной станции контролируемого объекта и акустическим преобразователем третьей ретрансляторной станции определяют по аналогичной формуле, и так далее, до тех пор, пока не будут измерены расстояния до всех необходимых ретрансляторных станций, при этом позиционируют надводный/подводный объект при его проходе по заданному фарватеру с высокой точностью, при этом не определяют расстояния до ретрансляторных станций, находящихся на значительном удалении, чем повышают производительность системы и производят позиционирование надводного/подводного объекта в реальном масштабе времени.after which continuous electrical oscillations are generated at the measuring station with the third sub-tone frequency $$F_{}$$$${}_3$$

, and the value of the subtone frequency $$F_{}$$$${}_3$$

corresponds to the number of the third repeater station, the distance to which must be measured, after which the entire procedure of formation, modulation, emission and reception of electrical and acoustic signals is repeated sequentially, after which the phase difference of the signals is obtained $$\mathrm{<figure-callout\; id="3"\; label="\Delta \; \phi "\; filenames="00000070.png"\; state="\{\{state\}\}">\Delta \; </figure-callout>}{\phi }_{}{}_3$$

, while the distance $$D_{}$$$${}_3$$

between the acoustic transducer of the measuring station of the monitored object and the acoustic transducer of the third repeater station is determined by a similar formula, and so on, until the distances to all necessary repeater stations are measured, while the surface / underwater object is positioned when it passes along a given fairway with high accuracy, while not determining the distance to repeater stations located at a considerable distance, which increases the performance of the system and makes positioning of the surface / underwater object in real time.

Comparison of the proposed invention with already known methods and the prototype shows that the claimed method exhibits new technical properties, consisting in the possibility of positioning a surface / underwater object when it passes along a given fairway, and positioning is carried out in real time.

These properties of the proposed invention are new, since in the prototype method, due to its inherent disadvantages, it is not possible to position the surface / underwater object when it passes along a given fairway described in the prototype by the method along the entire length of the fairway.

This method of positioning a surface / underwater object when it passes along a given channel can be implemented using the device shown in FIG. 1.

The device for positioning a surface / underwater object when it passes through a given fairway consists of a continuous oscillation generator of an audio frequency 1, a continuous oscillation generator of a sub-tone frequency 2, an amplitude modulator 3, a transmitting loop magnetic antenna 4, a receiving acoustic transducer of a measuring station 5, a phase difference meter 6, receiving loop magnetic antennas 7, 8, 9, ... M, adder signals of receiving loop magnetic antennas 10, amplifier-limiter of audio frequency signals 11, demodulator 12, frequency discriminator 13, controlled electronic keys 14, 15, 16, ..., 14 + N , transmitting acoustic transducers of repeater stations 17, 18, 19,…, 17+ N.

The output of the generator of continuous oscillations of audio frequency 1 is connected to the signal input of the amplitude modulator 3 and to the first input of the phase difference meter 6, while the modulation input of the amplitude modulator 3 is connected to the output of the continuous oscillation generator of the sub-tone frequency 2, while the output of the amplitude modulator 3 is connected to the input of the transmitting loop magnetic antenna 4, while the output of the receiving acoustic transducer of the measuring station 5 is connected to the second input of the phase difference meter 6, and the outputs of the receiving loop magnetic antennas 7, 8, 9, ... M are connected to the corresponding inputs of the signal adder of the receiving loop magnetic antennas 10, the output which is connected to the input of the amplifier-limiter of low audio frequency signals 11 and to the input of the demodulator 12, the output of which is connected to the input of the frequency discriminator 13, and the output of the amplifier-limiter of low audio frequency signals 11 is connected to the signal inputs of the controlled electronic keys 14, 15, 16 , ..., 14 + N, and the outputs of the frequency discriminator 13 are connected to the corresponding control inputs of the electronic keys 14, 15, 16, ..., 14 + N, the outputs of which are connected to the corresponding inputs of the transmitting acoustic converters of the relay stations 17, 18, 19, ..., 17+ N.

There is a device that implements the inventive method for positioning a surface / underwater object when it passes along a given fairway as follows.

, начальной фазой $${\phi }_{01}$$

и амплитудой $$U_0$$

With the help of the generator of continuous electrical oscillations of audio frequency 1, installed at the measuring station, continuous oscillations with a known audio frequency are initially generated $${\mathrm{<figure-callout\; id="1"\; label="f"\; filenames="00000070.png"\; state="\{\{state\}\}">f</figure-callout>}}_1$$

, the initial phase $${\phi }_{01}$$

and amplitude $$U_0$$

. (1) $$u_1\left(t\right)=U_0\sin \left(2\mathrm{<figure-callout\; id="1"\; label="\pi \; f"\; filenames="00000070.png"\; state="\{\{state\}\}">\pi \; </figure-callout>}{f}_{}{}_1+{\phi }_{01}\right)$$

. (1)

, описываемый выражениемThe frequency of these vibrations is chosen low. The frequency of these vibrations lies in the sound or ultrasonic wavelength range. These oscillations are fed to the first input of the phase difference meter 6 and simultaneously to the signal input of the amplitude modulator 2, to the modulation input of which a sub-tone frequency modulation signal is supplied $${\mathrm{<figure-callout\; id="1"\; label="F"\; filenames="00000070.png"\; state="\{\{state\}\}">F</figure-callout>}}_1$$

described by the expression

. (2) $$u_{ST}\left(t\right)=U_{ST}\sin \left(2\mathrm{<figure-callout\; id="1"\; label="\pi \; F"\; filenames="00000070.png"\; state="\{\{state\}\}">\pi \; </figure-callout>}{F}_{}{}_1+{\phi }_{ST1}\right)$$

. (2)

The result is a modulated signal

, (3) $$u_{1\mathrm{AND}M}\left(t\right)=U_0\left[1+m\sin \left(2\pi F_{1}t+{\phi }_{ST}\right)\right]\sin \left(2\mathrm{<figure-callout\; id="1"\; label="\pi \; f"\; filenames="00000070.png"\; state="\{\{state\}\}">\pi \; </figure-callout>}{f}_{}{}_1+{\phi }_{01}\right)$$

, (3)

индекс модуляции. Глубину модуляции выбирают небольшой, не больше 30%.Where $$m$$

modulation index. The modulation depth is chosen small, no more than 30%.

звукового или ультразвукового диапазона и при малых дальностях распространения, составляющих около сотни метров, длина волны электромагнитного излучения оказывается много больше измеряемой дальности. При этом набегом фазы переменного магнитного поля можно пренебречь и можно утверждать, что непрерывные колебания, формируемые на выходах приемных рамочных магнитных антенны 7, 8, 9,…M, являются синфазными, по отношению к непрерывным колебаниям, поступающим на вход передающей рамочной магнитной антенны 4 измерительной станции, и описываются одним и тем же выражением (1). Причем место установки передающей и приемных рамочных магнитных антенн не принципиально. Важно при этом устанавливать приемные рамочные магнитные антенны 7, 8, 9,…M таким образом, чтобы в процессе движения надводного/подводного объекта сигнал наводился на выходе хотя бы одной приемной рамочной магнитной антенны. При этом приемные рамочные магнитные антенны устанавливают как по ходу движения объекта, так и поперек его хода. The modulated signal is fed to the input of the transmitting loop magnetic antenna 4 installed at the measuring station. With the help of the transmitting loop magnetic antenna 4 of the measuring station, an alternating magnetic field is emitted in the direction of the receiving loop magnetic antennas 7, 8, 9, ... M. At low frequencies $$f_1$$

sound or ultrasonic range and at small propagation ranges of about a hundred meters, the wavelength of electromagnetic radiation is much larger than the measured range. In this case, the phase incursion of the alternating magnetic field can be neglected and it can be argued that continuous oscillations formed at the outputs of the receiving loop magnetic antennas 7, 8, 9, ... M are in-phase, with respect to continuous oscillations entering the input of the transmitting loop magnetic antenna 4 measuring station, and are described by the same expression (1). Moreover, the place of installation of the transmitting and receiving loop magnetic antennas is not important. It is important to install the receiving loop magnetic antennas 7, 8, 9,… M so that during the movement of the surface / underwater object, the signal is induced at the output of at least one receiving loop magnetic antenna. In this case, receiving loop magnetic antennas are installed both in the direction of movement of the object and across its course.

Continuous oscillations at the input of the transmitting and at the outputs of the receiving loop magnetic antennas will always be in phase or antiphase (depending on their mutual orientation), as is the case when using two inductors (the same loop magnetic antennas) with mutual inductive (magnetic) coupling ...

Since the electrical signals at the outputs of the receiving loop magnetic antennas are in phase, there are no obstacles to their simple addition in the adder of the signals of the receiving loop magnetic antennas 10. Thus, if at least at the output of one of the receiving loop magnetic antennas, or at the outputs of several loop magnetic antennas at once electrical oscillations of the audio frequency are induced, then these oscillations appear at the output of the adder of the signals of the receiving loop magnetic antennas 10 with one amplitude or another, and these electrical oscillations will be in phase with the original oscillations described by expression (1).

, то открывающее напряжение появляется на первом выходе частотного дискриминатора и этот сигнал замыкает ключ 14. При этом сигнал с выхода усилителя-ограничителя подают на вход первого передающего акустического преобразователя 17 ретрансляторных станций. Если частота модулирующего сигнала равна субтоновой частоте $$F_2$$

, то появляется открывающий сигнал на втором выходе частотного дискриминатора 13, замыкается ключ 15 и сигнал с выхода усилителя-ограничителя подают на вход второго передающего акустического преобразователя 18 ретрансляторных станций и т.д.The electrical signal at the output of the adder of the signals of the receiving loop magnetic antennas 10 is amplitude modulated with a sub-tone frequency signal and is described by expression (3) taking into account the amplitude factor characterizing the weakening of the alternating magnetic field when it propagates over a known distance. This electrical signal is amplified before limiting by means of an audio frequency signal limiting amplifier 11, thereby eliminating the amplitude modulation of the received signal. It is for good suppression of the modulation signal that the modulation depth is chosen low. As a result, a signal is obtained at the output of the amplifier-limiter 11, the first harmonic of which, taking into account a different signal amplitude, is described by expression (1). The obtained oscillations from the output of the amplifier-limiter of the audio frequency signals 11 are fed to the signal inputs of all electronic keys 14, 15, 16, ..., 14 + N. At the same time, the signal from the output of the adder of the signals of the receiving loop magnetic antennas 10 is fed to the demodulator 12, where its envelope is selected, which is described taking into account the amplitude factor by expression (2). The received signal is fed to a frequency discriminator 13, in which the frequency of the modulating signal is determined and a control voltage is generated at only one of its outputs, which opens only one of the electronic keys 14, 15, 16, ..., 14 + N. If the baseband frequency is equal to the sub-tone frequency $$F_{}$$$${}_1$$

, then the opening voltage appears at the first output of the frequency discriminator and this signal closes the switch 14. In this case, the signal from the output of the amplifier-limiter is fed to the input of the first transmitting acoustic transducer 17 of the repeater stations. If the baseband frequency is equal to the sub-tone frequency $$F_{}$$$${}_2$$

, then an opening signal appears at the second output of the frequency discriminator 13, the switch 15 is closed and the signal from the output of the amplifier-limiter is fed to the input of the second transmitting acoustic transducer 18 of the repeater stations, etc.

при распространении на расстояние $$D_1$$

от первого передающего акустического преобразователя 17 ретрансляторной станции до приемного акустического преобразователя 5 измерительной станции получает набег фазы $${\phi }_{11}=\frac{2\pi f_1}{c_a}{D}_1$$

, где $$c_a$$

— скорость звука в среде распространения. Значением этого набега фазы пренебречь нельзя, поскольку его величина может достигать нескольких тысяч фазовых циклов величиной $$2\pi$$

каждый. Таким образом, на выходе приемного акустического преобразователя 5 измерительной станции с учетом амплитудного множителя $$A_1$$

формируются непрерывные колебания With the help of the transmitting acoustic transducer 17 of the repeater station, an acoustic wave is emitted towards the measuring station. Acoustic wave with sound frequency $$f_{}$$$${}_1$$

when propagating to a distance $$D_{}$$$${}_1$$

from the first transmitting acoustic transducer 17 of the repeater station to the receiving acoustic transducer 5 of the measuring station receives a phase incursion $${\phi }_{\mathrm{eleven}}=\frac{2\pi f_1}{c_a}{\mathrm{<figure-callout\; id="1"\; label="D"\; filenames="00000070.png"\; state="\{\{state\}\}">D</figure-callout>}}_1$$

where $$c_a$$

Is the speed of sound in the propagation medium. The value of this phase incursion cannot be neglected, since its value can reach several thousand phase cycles with the value $$2\pi$$

every. Thus, at the output of the receiving acoustic transducer 5 of the measuring station, taking into account the amplitude factor $$A_{}$$$${}_1$$

continuous vibrations are formed

. (4) $$u_2\left(t\right)=U_0{\mathrm{<figure-callout\; id="1"\; label="A"\; filenames="00000070.png"\; state="\{\{state\}\}">A</figure-callout>}}_1\sin \left(2\mathrm{<figure-callout\; id="1"\; label="\pi \; f"\; filenames="00000070.png"\; state="\{\{state\}\}">\pi \; </figure-callout>}{f}_{}{}_1+{\phi }_{01}+\frac{2\pi f_1}{c_a}{D}_1\right)$$

. (4)

. Другими словами измеритель разности фаз формирует на своем выходе сигнал, пропорциональный некоторой величине $$\Delta {\phi }_{\text{m11}}$$

, которая связана с реальным набегом фазы $${\phi }_{11}$$

соотношением Initial continuous electrical oscillations from the output of the generator of continuous electrical oscillations 1, described by expression (1) and from the output of the receiving acoustic transducer 5, described by expression (4), are fed to the inputs of the phase difference meter 6, at the output of which a signal is generated proportional to the phase difference of the signals ( 1) and (4). However, the phase difference meter 6 is able to adequately display the measured phase difference if the value of this phase difference lies in the range from 0 to $$2\pi$$

. In other words, the phase difference meter generates at its output a signal proportional to a certain value $$\Delta {\phi }_{\text{m11}}$$

, which is associated with the real phase incursion $${\phi }_{\mathrm{eleven}}$$

ratio

, $$\Delta {\phi }_{\text{m11}}={\phi }_{\mathrm{eleven}}-\mathrm{<figure-callout\; id="2"\; label="n\; \cdot "\; filenames="00000070.png"\; state="\{\{state\}\}">n\; </figure-callout>}\cdot 2\pi =\frac{2\pi f_1}{c_a}{D}_1-\mathrm{<figure-callout\; id="2"\; label="n\; \cdot "\; filenames="00000070.png"\; state="\{\{state\}\}">n\; </figure-callout>}\cdot 2\pi$$

,

— некоторое целое число, которое может достигать нескольких тысяч и более.Where $$n$$

- some integer, which can reach several thousand or more.

фиксируют, после чего изменяют значение звуковой частоты непрерывных электрических колебаний до некоторой известной величины $$f_2$$

и повторяют всю процедуру излучения и приема электромагнитных и акустических волн и вновь измеряют разность фаз $$\Delta {\phi }_{\text{m12}}$$

непрерывных колебаний на выходе генератора непрерывных электрических колебаний 1 и на выходе приемного акустического преобразователя 5, которую вновь фиксируют. После чего определяют разность фаз $$\Delta {\phi }_1=\Delta {\phi }_{\text{m11}}-\Delta {\phi }_{\text{m12}}$$

и вычисляют дальность по формулеTo solve this problem, the specified measured value $$\Delta {\phi }_{\text{m11}}$$

fix, and then change the value of the sound frequency of continuous electrical vibrations to a certain known value $$f_{}$$$${}_2$$

and repeat the entire procedure for emission and reception of electromagnetic and acoustic waves and again measure the phase difference $$\Delta {\phi }_{\text{m12}}$$

continuous oscillations at the output of the generator of continuous electrical oscillations 1 and at the output of the receiving acoustic transducer 5, which is again fixed. Then the phase difference is determined $$\Delta {\phi }_{}$$$${}_1=\Delta {\phi }_{\text{m11}}-\Delta {\phi }_{\text{m12}}$$

and calculate the range by the formula

. $${\mathrm{<figure-callout\; id="1"\; label="D"\; filenames="00000070.png"\; state="\{\{state\}\}">D</figure-callout>}}_1=\frac{\Delta {\phi }_1{c}_a}{2\pi \left(f_1-f_2\right)}$$

.

не должно приводить к изменению разности фаз сигналов на величину бóльшую, чем $$2\pi$$

. Другими словами It is important to remember that changing the frequency $$\left(f_1-f_2\right)$$

should not lead to a change in the phase difference of the signals by an amount greater than $$2\pi$$

. In other words

. $$f_1-{\mathrm{<figure-callout\; id="2"\; label="f"\; filenames="00000070.png"\; state="\{\{state\}\}">f</figure-callout>}}_2\le \frac{c_a}{{\mathrm{<figure-callout\; id="1"\; label="D"\; filenames="00000070.png"\; state="\{\{state\}\}">D</figure-callout>}}_1}$$

.

, что вызывает появление управляющего сигнала на втором выходе частотного дискриминатора 13 и выход усилителя-ограничителя сигналов низкой звуковой частоты 11 соединяется с помощью электронного ключа 15 с входом передающего акустического преобразователя 18 ретрансляторной станции. После этого измеряют расстояние $$D_2$$

между вторым передающим акустическим преобразователем 18 ретрансляторной станции и приемным акустическим преобразователем 5 измерительной станции. After that, a subtone signal is generated at the measuring station with a frequency $$F_{}$$$${}_2$$

, which causes the appearance of a control signal at the second output of the frequency discriminator 13 and the output of the amplifier-limiter of low audio frequency signals 11 is connected by means of an electronic switch 15 to the input of the transmitting acoustic transducer 18 of the repeater station. Then measure the distance $$D_{}$$$${}_2$$

between the second transmitting acoustic transducer 18 of the repeater station and the receiving acoustic transducer 5 of the measuring station.

This procedure is continued until all the necessary distances to all the necessary acoustic transducers of the repeater stations are obtained and the surface / underwater object is positioned with high accuracy in real time, which will ensure its passage along the specified fairway. At the same time, they do not measure the distances to remote acoustic transducers, but are limited by the necessary and sufficient number of measurements that ensure the required positioning accuracy and implement high measurement efficiency.

The effect of using the proposed invention is associated with the emergence of the possibility of positioning a surface / underwater object in real time during its movement along a given fairway.

Another aspect of increasing the efficiency from the use of the proposed invention is associated with the ability to position the object with increased accuracy, while the length of the fairway can be extended.

Claims (5)

A method of positioning a surface / underwater object when it passes along a given fairway, characterized by the fact that initially at the measuring station of the controlled object, continuous electrical vibrations with a known fixed sound frequency are generated

, while these continuous electrical oscillations of the audio frequency are fed to the first input of the phase difference meter and to the signal input of the amplitude modulator, while continuous electrical oscillations of the sub-tone frequency are fed to the modulation input of the amplitude modulator $$F_1$$

, which are also generated at the measuring station, and the value of the sub-tone frequency $$F_1$$

corresponds to the number of the first repeater station, the distance to which must be measured, and thus form an electrical signal of audio frequency

amplitude modulated by a sub-tone signal $$F_1$$

with a shallow modulation level, while the signal from the output of the amplitude modulator is fed to the input of the transmitting loop magnetic antenna, which is installed at the measuring station and, thus, in a wide sector of angles, an alternating magnetic field of audio frequency

, after which at the other end of the measurement track, at several of its points, the alternating magnetic field is simultaneously captured by several receiving loop magnetic antennas, which are installed at several points along the route of the monitored object in a given fairway, and the installation locations of the receiving loop magnetic antennas do not have to coincide with the places of installation of repeater stations, the distances to which must be measured and which define a given fairway, and the distance between adjacent receiving loop magnetic antennas is set in accordance with the specified energy of the communication line using an alternating magnetic field of audio frequency for communication, and the receiving loop magnetic antennas are installed both along of the given fairway and across it, and thus cover the entire necessary area of reliable reception of the signal of the transmitting loop magnetic antenna of the measuring station at least one receiving loop magnetic antenna, then received by all receiving loop magnetic antennas continuous electrical oscillations of audio frequency

amplitude modulated by sub-tone frequency oscillations $$F_1$$

are added together, and then in one channel this total electrical signal is amplified to limitation, thereby eliminating the amplitude modulation of electrical oscillations of the audio frequency by electrical oscillations of the sub-tone frequency, and in the other channel the total electrical signal is demodulated and the electrical oscillations of the sub-tone frequency are isolated $$F_1$$

, the value of which is then determined in the frequency discriminator, and thus the number of the first repeater station is determined, the distance to which from the measuring station must be measured, after which the electric oscillations of the audio frequency amplified to the limit

are fed to the signal inputs of controlled electronic keys, to the control inputs of which the signals of the frequency discriminator are fed and only the first electronic key is closed, which corresponds to the first repeater station selected and identified in the frequency discriminator, thus amplified to limitation electrical oscillations of the audio frequency

an acoustic wave is fed to the input of the acoustic transducer of the first repeater station, the distance to which is to be measured and an acoustic wave is emitted by the acoustic transducer of the first repeater station, which is received by the acoustic transducer of the measuring station of the controlled object, after which electrical vibrations of audio frequency are received and converted by the acoustic converter of the measuring station

is fed to the second input of the phase difference meter of the measuring station, after which the phase difference is measured and recorded $$\Delta {\phi }_{\text{m11}}$$

between continuous electrical vibrations of sound frequency

, primarily formed at the measuring station and continuous electrical vibrations of audio frequency

obtained at the output of the acoustic transducer of the measuring station of the controlled object, after which continuous electrical oscillations of the audio frequency are generated at the measuring station with another known fixed frequency $$f_2$$

and repeat the whole procedure of modulation, emission, reception, alternating magnetic field, demodulation and limiting of electrical signals, frequency discrimination, emission and reception of an acoustic wave, and also measure and record the phase difference $$\Delta {\phi }_{\text{m12}}$$

between continuous electrical vibrations of sound frequency $$f_2$$

, primarily formed at the measuring station and electrical vibrations of audio frequency $$f_2$$

obtained at the output of the acoustic transducer of the measuring station of the controlled object, while determining the phase difference $$\Delta {\phi }_1=\Delta {\phi }_{m\mathrm{eleven}}-\Delta {\phi }_{m12}$$

, while the distance between the acoustic transducer of the measuring station of the controlled object and the acoustic transducer of the first repeater station is determined by the formula $$D_1=\frac{\Delta {\phi }_1{c}_a}{2\pi \left(f_1-f_2\right)}$$

, Where $$c_a$$

- the speed of sound in the propagation medium, after which continuous electrical vibrations with a different sub-tone frequency are generated at the measuring station $$F_2$$

, and the value of the subtone frequency $$F_2$$

corresponds to the number of the second repeater station, the distance to which must be measured, after which the procedure for generating electrical oscillations with a known fixed sound frequency is repeated again

and also these oscillations are modulated by electrical oscillations, but only of the sub-tone frequency $$F_2$$

, after which the alternating magnetic field is again emitted and received by loop magnetic antennas, again in the first channel the total signal received by the loop magnetic antennas is limited in amplitude, again in the second channel the total signal received by the loop magnetic antennas is demodulated, but at the same time the sub-tone frequency signal is identified in the frequency discriminator $$F_2$$

and on this fact, the second electronic key is closed and continuous vibrations of the audio frequency amplified to the limit

is fed to the acoustic transducer of the second repeater station, the distance to which must be measured, after which an acoustic wave is emitted and received and then the phase difference is measured and recorded according to the procedure $$\Delta {\phi }_{m21}$$

between continuous electrical vibrations of sound frequency

, primarily formed at the measuring station and continuous electrical vibrations of audio frequency

, obtained at the output of the acoustic transducer of the measuring station of the controlled object, after which, again at the measuring station, oscillations of the audio frequency are formed $$f_2$$

and repeat the entire procedure of modulation, emission, reception of an electrical signal, as well as the procedure for emission and reception of an acoustic signal, after which the phase difference is measured and recorded according to the procedure $$\Delta {\phi }_{m22}$$

, while determining the phase difference $$\Delta {\phi }_2=\Delta {\phi }_{m21}-\Delta {\phi }_{m22}$$

, while the distance between the acoustic transducer of the measuring station of the controlled object and the acoustic transducer of the second repeater station is determined by the formula $$D_2=\frac{\Delta {\phi }_2{c}_a}{2\pi \left(f_1-f_2\right)}$$

, after which continuous electrical oscillations are generated at the measuring station with the third sub-tone frequency $$F_3$$

, and the value of the subtone frequency $$F_3$$

corresponds to the number of the third repeater station, the distance to which must be measured, after which the entire procedure of formation, modulation, emission and reception of electrical and acoustic signals is repeated sequentially, after which the phase difference of the signals is obtained $$\Delta {\phi }_3$$

, while the distance $$D_3$$

between the acoustic transducer of the measuring station of the monitored object and the acoustic transducer of the third repeater station is determined by a similar formula, and so on, until the distances to all necessary repeater stations are measured, while the surface / underwater object is positioned when it passes along a given fairway with high accuracy, while not determining the distance to repeater stations located at a considerable distance, which increases the performance of the system and makes positioning of the surface / underwater object in real time.

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