Abstract

Under the water, the data are transmitted for ranges above dozens of meters using the acoustic modems. The acoustic modems are employed, in particular, for data transmission in positioning and navigation of both single and grouped underwater vehicles. Network communication methods are widely used for exchanging the navigation data between grouped autonomous underwater vehicles (AUVs). They are applied, for example, to keep the AUV formation geometry and/or to exchange the navigation data with the lead vessels. These methods can be combined, i.e., provide not only the exchange of mutual/relative positions between the AUVs for formation keeping, but also underwater georeferenced positioning for the group navigation in the geographical frame. A number of factors should be taken into account in the coordinated or cooperated AUV group navigation. As the number of interacting AUVs increases, their frequent addressing the acoustic medium is undesirable, because low capacity of the acoustic channel severely limits the underwater data traffic. Moreover, it is important to minimize the effect produced by the AUV acoustic system on the acoustic medium, particularly, to make the AUV less visible when its acoustic communication and positioning system is operating.

中文翻译：

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AUV群导航中低可观测声通信的可行性研究

摘要

在水下，使用声学调制解调器将数据传输到数十米以上的范围。声调制解调器特别用于单个和成组水下航行器的定位和导航中的数据传输。网络通信方法广泛用于在分组自主水下航行器（AUV）之间交换导航数据。例如，它们用于保持 AUV 编队几何形状和/或与先导舰交换导航数据。这些方法可以组合起来，即不仅提供AUV之间相互/相对位置的交换以用于编队保持，而且还提供水下地理参考定位以用于地理框架中的群组导航。在协调或合作的AUV群体导航中应考虑许多因素。随着相互作用的 AUV 数量的增加，它们频繁地寻址声学介质是不合需要的，因为声学通道的低容量严重限制了水下数据流量。此外，重要的是尽量减少AUV声学系统对声学介质产生的影响，特别是在其声学通信和定位系统运行时使AUV不那么可见。