RU2623830C1 - Method of remote determination of relief and sedimentation of underwater iceberg part - Google Patents

Abstract

FIELD: physics.

SUBSTANCE: essence of the method consists in using the property of a sonar interferometer, realised as an interferometric side scan sonar, to measure in a wide viewing band of height z_i points of the sounded surface of the underwater part of the iceberg (UPI) relative to the plane passing through the middle of the base of the interferometer and perpendicular to its base, and also the horizontal distances x_i from the middle of the base of the interferometer to these points of the UPI surface, with subsequent calculations of the precipitation h_i of each i-th point on the UPI surface using the well-known deepening of the antennas of the interferometer with respect to the water surface h₀, and by calculating the ordinates Δz_i=z_i-z_e dots of the UPI surface relative to the level z=z_e, where z_e - shortest distance from the middle of the base of the interferometer to the surface of the UPI, measured using a horizontally directional echo sounder in each sounding cycle.

EFFECT: method allows, when traversing the iceberg, by the carrier of the echosounder and the interferometer, to determine the relief of the UPI and its draft on the carrier without the procedure of diving and raising the side-scan sonar at the points of the trajectory of the iceberg bypass, which significantly reduces the labor intensity of the process and increases its processability.

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Description

The invention relates to the field of hydroacoustics and is intended for remote acoustic measurements of the relief and precipitation of the underwater part of the iceberg (PCA) from under the water.

Known methods for remote determination of precipitation and terrain PCA using hydroacoustic means, which are described, for example, in [1, 2]. In the first of them [1], a side-scan sonar (HBO) rigidly fixed on the hull of a surface carrier vessel is used, whose acoustic antenna is located at a fixed depth relative to the surface of the water. HBO periodically, as the carrier vessel moves at some distance around the iceberg, it reads the IFA in the direction from the sea surface to its bottom, thereby ensuring the formation of a brightness sonar image of the IFA on the indicator, by which its shape and draft can be determined.

The main disadvantage of the method described in [1] is the inability to measure the relief of the voiced surface (relative tilt angles and heights) of the underwater part of the iceberg, which does not allow reliable estimation of the actual shape of the IFA. In fact, the aforementioned method allows one to estimate only the iceberg draft in the sounding direction and its extent in the direction perpendicular to the sounding direction.

The closest analogue of the proposed method, selected as a prototype, is the method described in [2]. This method of determining the draft of an iceberg and the shape of its underwater part from a surface object (vessel) is characterized by the following operations:

- the approach of the carrier vessel with a drop-down side-scan sonar installed on it to the surface of the iceberg for a certain distance, ranging from 100 to 200 m;

- stopping the vessel at a fixed distance from the surface of the iceberg, keeping the vessel in the vicinity of the stopping point;

- the inclusion of HBO in the inspection mode of the surface of the PCA and the subsequent lowering of the HBO at a constant speed to depth to remove the first (in a row) relief of the surface of the PCA;

- observation and registration of the sonar image of the PCA on the HBO display device until it disappears from the screen;

- immediate stop of the HBO immersion immediately after the disappearance of the sonar image of the IF from the screen of the display device and the simultaneous fixation of the time from the start of the immersion and the depth of immersion of the HBO antennas, calculated according to the hydrostatic pressure sensor integrated in the HBO;

- after stopping, the rise of HBO at a constant speed with the observation and registration of the sonar image of the PCA to the depth from which the dive began;

- stopping the operation of the HBO software, transferring the vessel to the next observation point located on the trajectory of the iceberg bypassing the vessel and repeating the above procedure for observing and recording the sonar image of the PCA.

From the sonar surface images of the IFA obtained at fixed points on the iceberg bypass path, the distances and elevation angles of the surface points farthest from the HBO antennas are calculated, which are then used to construct the relief of the IFA to the right and left of the direction in which the HBO plunged and ascended. The iceberg “profiling” procedure is then considered complete when a set of reliefs is obtained on a closed path (circle) in the range of 360 ° angles around the iceberg. Using a set of flat relief profiles, a three-dimensional relief can be constructed of the surface surveyed by the sonar, and then, using the measurement data of the surface of the iceberg, the three-dimensional shape of the PCA is also synthesized with the determination of its real geometric dimensions.

The main disadvantage of the method described in [2] is the great complexity of the method, determined by the need for multiple operations to lower and raise the hydroacoustic means (in this case HBO) during the “profiling” of the IFA and the need to keep the carrier vessel at a certain distance from the iceberg for the whole cycle of "descent-ascent".

The objective of the invention is the ability to measure the surface top of the PCA and, therefore, determine their shape and draft without the procedure of immersion and lifting of the sonar and while the carrier ship.

The technical result consists in reducing the complexity and improving the manufacturability of the method.

, где i=1, 2, 3… - номер интерференционной полосы, отсчитываемый от нулевой линии на интерференционной картине, соответствующей моменту излучения зондирующего сигнала, λ₀ - длина волны принимаемого эхо-сигнала, определяют расстояние z_i каждой i-й точки рассеяния от поверхности ПЧА относительно горизонтальной плоскости, проходящей через середину базы интерферометра, по формуле

определяют вертикальное расстояние x_i от середины базы интерферометра 0 до каждой i-й точки рассеяния, используя вычисленные значения координаты x_i и известное значение заглубления h₀ антенн интерферометра относительно поверхности воды, вычисляют значения осадки h_i каждой i-й точки рассеяния на поверхности ПЧА по формуле h_i=x_i+h₀ вплоть до точки M(x_M, z_M), соответствующей осадке айсберга H _a ; по формуле Δz_i=z_i-z_э, где z_э - кратчайшее расстояние от середины базы интерферометра до поверхности ПЧА, которое измеряют с помощью эхолота, закрепленного вместе с приемными антеннами интерферометра на корпусе судна-носителя, вычисляют с учетом значения заглубления антенн интерферометра h₀ ординаты точек поверхности ПЧА относительно уровня z=z_э в данном цикле зондирования в диапазоне глубин, соответствующих диапазону углов Θ, охватываемых характеристиками направленности антенн интерферометра, используя пары чисел Δz_i x_i строят профиль рельефа ПЧА в плоскости x0z относительно уровня z=z_э, повторяют последовательное импульсное акустическое зондирование ПЧА в процессе движения судна-носителя акустической системы по замкнутой траектории обхода айсберга с периодической привязкой результатов очередного цикла зондирования к направлению, времени и угловому положению относительно стран света точек зондирования, осуществляемой с помощью измерения угла ϕ, отсчитываемого от истинного траверса

айсберга в первом цикле зондирования, в результате чего получают ансамбль из n профилей рельефов ПЧА, которые используют для построения ее трехмерной формы.To achieve the specified technical result, a method for determining the precipitation and shape of the underwater parts of icebergs, including emitting pulsed sounding signals in the direction of the IFA with antennas lowered from the side of the carrier vessel, receiving acoustic echo signals scattered by the voiced surface of the IFA, and simultaneously measuring with a hydrostatic sensor pressure depths of the antennas, new features have been introduced, namely, the radiation of pulsed sounding signals is produced by the emitting antenna of hydroacoustic inter of the aerometer, the echo signals from the iceberg are produced by two receiving antennas of the hydroacoustic interferometer, located at a fixed depth from the water surface and spaced in the horizontal plane at a distance D, which is the base of the interferometer, while both receiving antennas of the interferometer have a narrow directivity (XI) in the plane a larger receiving antenna of the interferometer and a wide XN in the plane of a smaller receiving antenna of the interferometer, receiving echo signals by both receiving ante they are produced in the range of angles Θ covered by their CN, the distance between the zero line corresponding to the middle of the base of the interferometer and the middle of the interference band corresponding to the scattering points from the IF surface of the received echo signals proportional to the distance of these scattering points from the middle of the base of the interferometer is measured by the interference pattern , using a scale ruler determine the slant range r _i of the scattering points of the echo signal to the middle of the base of the interferometer according to the formula

, where i = 1, 2, 3 ... is the number of the interference band counted from the zero line on the interference pattern corresponding to the moment of radiation of the probing signal, λ ₀ is the wavelength of the received echo signal, the distance z _{i of} each ith scattering point from the surface of the IFA relative to the horizontal plane passing through the middle of the base of the interferometer, according to the formula

determine the vertical distance x _i from the middle of the base of the interferometer 0 to each i-th scattering point, using the calculated values of the coordinate x _i and the known depth of h _{0 of the} interferometer antennas relative to the water surface, calculate the precipitation values h _{i of} each i-th scattering point on the surface of the IF by the formula h _i = x _i + h ₀ up to the point M (x _M , z _M ) corresponding to the iceberg draft H _a ; according to the formula Δz _i = z _i -z _e , where z _e is the shortest distance from the middle of the interferometer base to the surface of the frequency converter, which is measured using an echo sounder mounted together with the receiving antennas of the interferometer on the hull of the carrier vessel, calculated taking into account the depth of the antennas of the interferometer h _{0 the} ordinates of the surface points of the IFA relative to the level z = z _e in a given sounding cycle in the range of depths corresponding to the range of angles Θ covered by the directivity characteristics of the antennas of the interferometer using the pairs of numbers Δz _i x _{i to} build the profile elevation of the IFA in the x0z plane relative to the level z = z _e , repeat sequential pulsed acoustic sounding of the IFA during the movement of the carrier vessel of the speaker system along a closed iceberg bypass path with periodic reference of the results of the next sensing cycle to the direction, time and angular position relative to the countries of the world of sounding points carried out by measuring the angle ϕ counted from the true crosshead

an iceberg in the first sensing cycle, as a result of which an ensemble of n elevation profiles of the AFA is obtained, which are used to construct its three-dimensional shape.

The best result is obtained if the radiating antenna of the interferometer is located at the midpoint of its base, and the transceiving antenna of the echo sounder is located at the minimum possible distance from the midpoint of the base.

The essence of the method is illustrated in FIG. 1-3. In FIG. 1 shows a structural diagram of a device that implements the method, FIG. 2a, c shows the application of the proposed method, FIG. 2b illustrates the procedure for constructing the IF profile, in FIG. 3 presents a view of the interference pattern with operational marks at the output of the interferometer.

для каждого цикла зондирования; программируемое устройство 8 построения рельефа поверхности ПЧА по ансамблю из n профилей рельефов

; устройство 9 отображения рельефа ПЧА; интерферометр 10; устройство 11 предварительной обработки эхо-сигнала эхолота и измерения расстояния r_э; коммутатор 12 «прием-передача»; импульсное генераторное устройство 13 эхолота; эхолот 14.The block diagram shown in FIG. 1, comprises a radiating acoustic antenna of interferometer A; receiving acoustic antennas of the interferometer A ₁ , A ₂ ; A ₃ transceiver acoustic antenna sounder; interferometer generator device 1; receiving amplifiers 2 interferometers; phase discriminator 3; the recorder (indicator) of the interference pattern and the synchronizer of the system 4; device 5 for determining the number i of the interference band; calculator 6 coordinates z _i and vertical distance (depth) x _i from the middle of the base of the interferometer 0 to each i-th point of the IFA; device 7 for calculating precipitation h _i , ordinates Δz _i of the surface points of the IFA with respect to the level z = z _e in each sensing cycle and constructing the function

for each sounding cycle; programmable device 8 for constructing the surface relief of the IFA by an ensemble of n relief profiles

; PCA relief display device 9; interferometer 10; a device 11 for pre-processing the echo signal of the echo sounder and measuring the distance r _e ; the switch 12 "receive-transmit"; pulse generator device 13 sonar; echo sounder 14.

Blocks 1-6 technically represent typical functional units of standard interferometric HBO, known, for example, from [3]. Blocks 7-9 are electronic devices, the operation algorithms of which are implemented using analog and digital programmable means, for example, in ship multipath echo sounders, which provide the construction of 3D images of the bottom surface of water areas. Blocks 11-13 are typical functional units of high-frequency marine echo sounders, in particular navigation, examined in detail, for example, in [4].

In FIG. 2a in a projection on a vertical plane shows:

0 - midpoint of the base of the interferometer;

- геометрическая разность хода эхо-сигнала от некоторой точки поверхности ПЧА i до антенн интерферометра;

- the geometric difference in the course of the echo signal from a certain point on the surface of the IFA i to the interferometer antennas;

0, x, y, z - a rectangular coordinate system associated with the carrier vessel: the origin 0 coincides with the midpoint of the base of the interferometer, the y axis coincides with the longitudinal axis of the carrier vessel;

z _e = r _e is the shortest distance from the middle of the base of the interferometer (point 0) to the surface of the IF (point M ₀ ), measured using an echo sounder;

r _i - the slant range from the base of the interferometer to the i-th point of the voiced surface of the IFA;

z _i - height of the point of the ice surface relative to the vertical plane perpendicular to the base and passing through the midpoint of the interferometer baseline;

Θ - width XH of the receiving antennas of the interferometer in the vertical plane;

θ _i is the angle of slip of the acoustic beam at the i-th point;

x _i - the vertical distance (depth) from the middle of the base of the interferometer 0 to each i-th point of the surface of the IFA, equal to the projection of the slant range r _i on the coordinate axis x;

h ₀ - deepening (sediment) of the midpoint of the base of the interferometer relative to the surface of the water;

h _i - draft of the i-th point of the surface of the IFA;

H _a - iceberg sediment;

. Значения Δz_i, представляющие собой отклонения значений функции

от уровня z_э, вычисляются по выражениям (1) и (2). Пары чисел Δz_i, x_i описывают профиль рельефа ПЧА в плоскости x0z относительно уровня z=z_э.FIG. 2b explains the procedure for constructing the IF profile with respect to the level z = z ₀ in each sensing cycle. A fragment of the surface profile of the IFA in the section by the x0z plane is presented as some function of the coordinate

. Δz _i values representing deviations of function values

from the level of z _e , are calculated by the expressions (1) and (2). The pairs of numbers Δz _i , x _i describe the elevation profile of the IFA in the x0z plane relative to the level z = z _e .

In FIG. 2c, in a projection onto a horizontal plane, are depicted:

1, 2 ... n, 1 - sequential positions of the carrier vessel at the points of the iceberg bypass trajectory;

ϕ is a certain constant angle, measured from the true traverse of the iceberg Ф, which defines the points of the trajectory of the iceberg bypass, in which acoustic sensing of the IFA is carried out;

- угол, соответствующий истинному траверсу айсберга относительно судна-носителя в точках траектории обхода, где осуществляется зондирование ПЧА.

- the angle corresponding to the true traverse of the iceberg relative to the carrier vessel at the points of the bypass trajectory where probing of the IFA is carried out.

In FIG. 3 shows a view of the interference pattern at the output of the interferometer. The field of the picture shows: “zero line” (the reference point of the oblique range) corresponding to the moment of emission of the probe signal by the interferometer, x ₁ is the distance from the zero line to the first interference band corresponding to the oblique range of r ₁ to the point of the IF surface.

The method is characterized by the following operations:

размера антенны и широкой в плоскости ее меньшего размера XH излучающей антенны A интерферометра облучается узкая в плоскости горизонта и широкая по глубине полоса льда на ПЧА.At some point in time, the radiating antenna A of the interferometer (Fig. 1) emits an acoustic pulsed sounding radio signal generated by the interferometer generator device 1 from the sync pulse generated by the system operation synchronizer 4 and the recorder (indicator) of the interference pattern to the IF side. Since the axis of the directivity characteristic (XI) of the antenna of the interferometer A in the vertical plane lies in the x0z plane perpendicular to the diametrical plane of the carrier vessel of the interferometer (Fig. 2a), the IF is irradiated with acoustic energy in the direction perpendicular to the heading line of the carrier vessel. Due to narrow in plane

The size of the antenna and the broad in the plane of its smaller size XH of the radiating antenna A of the interferometer are irradiated narrow in the horizontal plane and wide in depth by an ice strip at the IFA.

After the probe signal is emitted, the interferometer switches to the mode of receiving echo signals scattered by the sonicated surface of the IFA. Reception of echoes is made by two spaced apart in the horizontal plane receiving acoustic antennas A ₁ and A ₂ (Fig. 1). The first to the antennas A ₁ and A ₂ come the echo signals from the closest points, then from the more and more distant points of the irradiated ice strip. Acoustic signals received by antennas are converted into electrical ones and, after amplification and detection in receiving amplifiers, 2 interferometers 10 are fed to phase discriminator 3 and then to the recorder (indicator) of the interference pattern and the synchronizer of the system 4.

эхо-сигнала от некоторой точки i ПЧА до антенн интерферометра A₁ и A₂, зависящая от базы интерферометра D и угла скольжения акустического луча θ_i в i-й точке, равна целому числу длин волн λ₀ принимаемого эхо-сигнала, т.е.

, где i=1, 2, 3, …, то при сложении напряжений эхо-сигналов, снимаемых с выходов антенн A₁ и A₂, суммарный сигнал будет равен сумме напряжений этих сигналов. Если

, то суммарный сигнал будет равен их разности. Указанный эффект обусловлен интерференцией эхо-сигналов от точки поверхности ПЧА, принятых разнесенными по вертикали антеннами интерферометра.If the geometric stroke difference

of the echo signal from some point i of the IF to the antennas of the interferometer A ₁ and A ₂ , which depends on the base of the interferometer D and the angle of the acoustic beam θ _i at the i-th point, is an integer number of wavelengths λ _{0 of the} received echo signal, i.e. .

, where i = 1, 2, 3, ..., then when adding the voltage of the echo signals taken from the outputs of the antennas A ₁ and A ₂ , the total signal will be equal to the sum of the voltages of these signals. If

, then the total signal will be equal to their difference. The indicated effect is due to the interference of echo signals from a point on the surface of the IFA received by vertically spaced antennas of the interferometer.

(фиг. 2в).In the process of receiving and summing the echo signals in the phase discriminator 3, coming from more and more distant points of the irradiated ice strip, an interference pattern will be formed, which will be recorded on the brightness recorder 4 with a rectangular raster scan in the coordinates “track range” - “slant range” , will be alternating dark and light bands (interference fringes), as shown in FIG. 3. The coordinate "track range" is counted from the point

(Fig. 2B).

. Иными словами i - это номер интерференционной полосы на интерференционной картине или номер интерференционного лепестка в XH антенны интерферометра, ось одного из которых (i-го) изображена на фиг. 2а пунктиром. Номер интерференционной полосы от начала интерференционной картины определяется в устройстве 5 определения номера i интерференционной полосы. Интерференционные полосы удалены от «нулевой линии» (начала отсчета наклонной дальности), соответствующей моменту излучения интерферометром зондирующего сигнала, на расстояния x_i, пропорциональные соответствующим наклонным дальностям r_i до точек облученной поверхности (фиг. 3). Измеряются эти наклонные дальности с помощью масштабной линейки, функционально реализованной в регистраторе интерференционной картины и синхронизаторе работы системы 4. Измерения проводятся от нулевой линии интерференционной картины. Наклонная дальность r_i (фиг. 2а) до точки пересечения поверхности ПЧА с осью i-го интерференционного лепестка связана с высотой z_i этой точки в плоскости x0z, образованной прямоугольной системой координат 0, x, y, z, связанной с судном-носителем, у которой начало координат 0 совпадает со средней точкой базы интерферометра, а ось y совпадает с продольной осью судна-носителя, соотношениемEach interference band in the interference pattern has its own number equal to an integer i of wavelengths λ ₀ characterizing the path difference

. In other words, i is the number of the interference band in the interference pattern or the number of the interference lobe in the XH antenna of the interferometer, the axis of one of which (i-th) is shown in FIG. 2a dotted. The number of the interference band from the beginning of the interference pattern is determined in the device 5 for determining the number i of the interference band. The interference fringes are removed from the “zero line” (the reference point of the inclined range), corresponding to the moment the interferometer emits the probe signal, at distances x _i proportional to the corresponding inclined ranges r _i to the points of the irradiated surface (Fig. 3). These slant ranges are measured using a scale ruler functionally implemented in the interference pattern recorder and system operation synchronizer 4. Measurements are taken from the zero line of the interference pattern. The inclined range r _i (Fig. 2a) to the point of intersection of the IF surface with the axis of the i-th interference lobe is associated with the height z _{i of} this point in the x0z plane formed by the rectangular coordinate system 0, x, y, z associated with the carrier vessel, where the origin 0 coincides with the midpoint of the base of the interferometer, and the y axis coincides with the longitudinal axis of the carrier vessel, the ratio

In turn, from FIG. 2a it follows that

Combining (1) and (2), we obtain

The vertical distance (depth) from the middle of the base of the interferometer 0 to each i-th point of the surface of the IFA - x _i can be determined by the formula

, используя выражения (3) и (4), выполняются расчеты высот z_i и глубин x_i относительно середины базы интерферометра 0 (фиг. 2а).Thus, the interference pattern is unambiguously related to the surface relief of the IFA and can be used to determine heights and depths from the middle of the base of the interferometer in a wide field of view. To do this, in the calculator 6 for certain numbers of interference fringes i, measured inclined ranges r _i and the ratio known for this interferometer

using expressions (3) and (4), heights z _i and depths x _i are calculated relative to the middle of the base of the interferometer 0 (Fig. 2a).

Next, the calculated values of x _i in the device 7 calculates the depth of immersion or precipitation h _{i the} i-th point of the surface of the PCA (Fig. 2A) relative to the surface of the water by the formula

where h ₀ (Fig. 2a) is the value of the deepening (draft) of the midpoint of the base of the interferometer relative to the water surface or the actual waterline of the vessel, measured when the interferometer was installed on the carrier vessel. After receiving the echo signal from the farthest point M (Fig. 2a) of the irradiated ice strip, the interferometer reception mode ends.

Immediately upon termination of the interferometer receiving mode by the clock pulse generated by the synchronizer 4, the echo sounder 14 starts working. The sounder 14 receives the emitting acoustic antenna A ₃ , the axis of the directivity characteristic of which is oriented normal to the diametrical plane of the carrier vessel, and a pulse sounding radio signal arrives through switch 12, generated by a pulse generator device 13 sonar. The acoustic antenna A _{3 of the} echo sounder converts this electrical radio signal into acoustic and emits it towards the IF, after which the echo sounder switches to the mode of receiving the echo signal reflected from the nearest point on the surface of the IF (in Fig. 2a, point M ₀ ). In the device 11 according to the measured delay time t _3, the echo signal with respect to the sounding radio signal and the known speed of sound in water is carried out with _e r measurement distance to the nearest to the antenna A ₃ sonar surface point by formula PCHA

,

,

центра излучающей поверхности антенны A₃ относительно точки 0 интерферометра в устройстве 11, вычисляется координата z_э точки M₀ в системе координат 0xyz.Then, given the actual coordinates

,

,

the center of the radiating surface of the antenna A ₃ relative to point 0 of the interferometer in the device 11, the coordinate z _{e of the} point M ₀ in the coordinate system 0xyz is calculated.

Using the value of the coordinate z _e in the device 7 for each sensing cycle according to the formula

координаты x (или координаты h=х+h₀), меняющейся в некоторых пределах, определяемых осадкой айсберга H _a (фиг. 2а), построение которой осуществляется в этом же устройстве. На этом работа эхолота заканчивается и цикл «профилирования» ПЧА повторяется.the ordinates of the points Δz _{i of} the IF surface are calculated relative to the level z = z _e (Fig. 2b) in each sensing cycle. Pairs of numbers Δz _i , x _i characterize the elevation profile of the IFA in the x0z plane, but not with respect to the level passing through the origin z = 0, but with respect to the level z = z _e . Δz _i values can be represented as some function

x coordinates (or coordinates h = x + h ₀ ), varying within certain limits determined by the iceberg draft H _a (Fig. 2a), the construction of which is carried out in the same device. This completes the operation of the echo sounder and the “profiling” of the IFA repeats.

для различных точек траектории обхода (фиг. 2в, 3). Этот процесс продолжается до тех пор, пока судно-носитель не «замкнет» траекторию обхода айсберга, т.е. не придет в исходную точку начала «профилирования».In order to obtain the surface profile of the IFA outside the narrow, in the horizon plane and wide in depth ice strip on the IFA carrier vessel and with it the interferometer with an echo sounder should be moved to another point on the iceberg bypass path, after which the interferometer and echo sounder emit another acoustic pulse sounding radio signal to the surface of the IFA and receive the corresponding echo signals from the IFA. As the carrier vessel of the interferometer and the echo sounder moves along the iceberg bypass path, new adjacent bands of the IF surface are irradiated, the echo signals from which are received and processed by the interferometer 10 and the echo sounder 14. Simultaneously with the irradiation, the IF surfaces are fixed and applied to the interferogram in the form operational marks (Fig. 3) current profile number n, current time and values of the true iceberg traverse

for different points of the traversal path (Fig. 2B, 3). This process continues until the carrier ship closes the iceberg bypass path, i.e. will not come to the starting point of the beginning of "profiling".

с привязкой каждого профиля к конкретному моменту времени и значению угла

накапливаются в программируемом устройстве 8, где осуществляется также построение трехмерной формы ПЧА вида

, которая затем может быть визуально отображена на устройстве отображения рельефа ПЧА 9.The ensemble of relief profiles of the AFA of the form obtained during a walk along a closed trajectory of a walk around the path

with the binding of each profile to a specific point in time and the value of the angle

accumulate in the programmable device 8, where the construction of the three-dimensional shape of the IFA of the form is also carried out

, which can then be visually displayed on the terrain display device of the IFA 9.

Thus, the method described above makes it possible to measure the surface relief of the frequency converter and, therefore, determine its shape and draft on the course of the carrier vessel and without the procedure for immersing and raising the sonar, which significantly reduces the complexity of the process and increases its manufacturability.

Information sources

1. Bogorodsky A.V., Popov I.K. Instrumental studies of the underwater icebergs of the Southern Ocean // Transactions of AARII. 1978.V. 359.P. 134-138.

2. Determination of Iceberg Draft and Shape // Prepared By: Oceans Ltd., 85 LeMarchant Road, St. John's, NL, Canada, A1C 2H1. June 2004, PERD / CHC Report 20-75.

3. Baras S.T. Research and development of sonar interferometer for cartographic bottom survey in a wide field of view. Dis ... cand. tech. sciences / OKB "Reef". G. Balti, 1981, 210 p.

4. Khrebtov A.A. Ship echo sounders. - L .: Shipbuilding, 1982. - 232 p.

Claims (2)

1. The method of determining the topography and precipitation of the underwater part of the iceberg (IFA), including the emission of pulsed sounding signals in the direction of the IFA and the reception of echo signals scattered by the surface of the IFA antennas lowered from the side of the carrier vessel, and the simultaneous measurement using a hydrostatic pressure sensor immersion of antennas, characterized in that the radiation of the pulsed sounding signals is produced by the emitting antenna of the hydroacoustic interferometer, the reception of echo signals from the iceberg is carried out by two receiving the antennas of the hydroacoustic interferometer located at a fixed deepening from the water surface and spaced in the horizontal plane at a distance D, which is the base of the interferometer, while both receiving antennas of the interferometer have a narrow directivity characteristic (XI) in the plane of the larger receiving antenna of the interferometer and a wide XN in the plane of the smaller the size of the receiving antenna of the interferometer, the reception of echo signals by both receiving antennas is carried out in the range of angles Θ covered by their HN, according to the interference translational picture measure the distance between the zero line corresponding to the middle of the interferometer base and the middle of the interference fringe corresponding to the scattering points of the surface PCHA received echo signals proportional to the removal of the scattering points from the middle of the interferometer base, via scalebar determined slope distances r _i scattering points echo -signal to the middle of the interferometer base, according to the formula

, where i = 1, 2, 3 ... is the number of the interference band counted from the zero line on the interference pattern corresponding to the moment of radiation of the probing signal, λ ₀ is the wavelength of the received echo signal, the distance z _{i of} each ith scattering point from the surface of the IFA relative to the horizontal plane passing through the middle of the base of the interferometer, according to the formula

determine the vertical distance x _i from the middle of the base of the interferometer to each i-th scattering point, using the calculated values of the coordinate x _i and the known value of the depth h _{0 of the} interferometer antennas relative to the water surface, calculate the precipitation values h _{i of} each i-th scattering point on the surface of the IF the formula h _i = x _i + h ₀ up to the point M (x _M , z _M ) corresponding to the iceberg draft Н _а ; according to the formula Δz _i = z _i -z _e , where z _e is the shortest distance from the middle of the interferometer base to the surface of the frequency converter, which is measured using an echo sounder mounted together with the receiving antennas of the interferometer on the hull of the carrier vessel, calculated taking into account the depth of the antennas of the interferometer h _{0 are the} ordinates of the surface points of the IFA relative to the level z = z _e in this sounding cycle in the range of depths corresponding to the range of angles Θ covered by the interferometer receiving antennas XN and, using pairs of numbers Δz _i , x _i , build the profile of the IFA relief in the plane bones x0z relative to the level z = z _e , repeat the sequential pulsed acoustic sounding of the IFA and the procedure for constructing the elevation profile of the IFA during the movement of the carrier vessel of the speaker system along a closed iceberg bypass path with periodic reference of the results of the next sounding cycle to the direction, time and angular position relative to countries light sensing pixels, performed by measuring the angle φ, measured from the true traverse iceberg F ₁ in the first cycle sensing receive ensembles n s of reliefs PCHA profiles that are used to build its three-dimensional shape. 2. The method according to p. 1, characterized in that the radiating antenna of the interferometer is located at the midpoint of its base, and the transceiving antenna of the echo sounder is located at the minimum possible distance from the midpoint of the base.

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