Navigation system for maneuvering a structure about a submerged object

Abstract

The navigation system permits remote maneuvering of a water-borne structure about a stationary object by utilizing dual sonar ranging. The structure can be self-propelled or towed by a surface craft. The transducer portion of the navigation system is mounted on the structure and the system's remaining portion is on the deck of the surface craft. For complete remote navigation, at least three but preferably four transducers are employed for positioning at the four corners of a rectangle. Each transducer is both sound-emitting and sound-receiving. The sonic impulses from each pair of port and starboard transducers are directed downwardly and inwardly. The travel time for each reflected sonic impulse is directly proportional to the slant range between the transducer and the object. The spacing between each pair of port and starboard transducers and the frequency of the emitted sound impulses are selected so that very accurate measurements are obtainable of the position of the object relative to the transducers. If the object is a pipe it is desirably maintained on a visual display in a longitudinal plane of symmetry for the two pairs of transducers. Any appreciable lateral deviation from the desired position is immediately detected and corrective action can be taken by the surface craft to reposition the structure.

What is claimed is: 
     
       1. A method of locating a submerged acoustic reflecting object and maneuvering a water-borne structure about said object, comprising: a. mounting two pairs of transducers stations on said structure.Iadd., said transducers being arranged approximately at the four corners of a rectangle.Iaddend.;   b. transmitting acoustic impulses from one pair of transducers .Iadd.in a downward and inward direction towards each other.Iaddend.;   c. detecting with said one pair of transducers the resultant reflected acoustic impulses;   d. using a characteristic of the detected impulses to locate said object and to move said structure toward said object;   e. transmitting acoustic impulses from the other pair or transducers .Iadd.in a downward and inward direction toward each other.Iaddend.   f. detecting with said other pair of transducers the resultant reflected acoustic impulses;   g. constructing a two-dimensional display based on the detected impulses from both pairs of transducers; and   h. using the display to maneuver said structure about said object.  .[.   
     
     
       2.  The method of claim 1 wherein said transducers are arranged at the four corners of a rectangle; and the acoustic impulses from each pair of port and starboard transducers are directed downwardly and inwardly toward each other..].   
     
     
       3. A method of maneuvering a water-borne pipe burying sled about a pipeline laying on the seabottom, said sled including two spaced-apart elongated pontoons, comprising the steps of: a. mounting a transducer near each end of each pontoon;   b. positioning on a surface craft a dual ranging sonar navigation system;   c. coupling the system to said transducers;   d. towing the sled with said craft to the suspected vicinity of said pipeline;   e. applying electric waves to at least two of said transducers to cause the transducers to consecutively emit direct acoustic impulses into the body of water;   f. detecting with each transducer the resultant reflected sound wave produced by its direct acoustic impulses;   g. separately recording the reflected sound waves detected by said transducers;   h. comparing a difference between the separately recorded reflected sound waves;   i. using the results of the comparison to pilot the sled toward said pipeline;   j. applying electric waves to the other two of said transducers to cause the same to consecutively emit direct acoustic impulses into the body of water;   k. detecting with each one of said other two transducers the resultant reflected sound waves produced by its direct acoustic impulses;   l. separately recording the reflected sound waves detected by said other two transducers;   m. comparing a difference between the separately recorded reflected sound waves from said two other transducers; and   n. using the results of the comparisons obtained from steps (h) and (m) to position said sled over and astride of said pipeline.   
     
     
       4. The method of claim 3, and discontinuing the steps (i) through (n), inclusive, after the sled is astride of said pipeline, and using the results of the comparison provided by step (h) to move said sled along said pipeline.   
     
     
       5. A system for locating an acoustic reflecting object in a body of water and maneuvering a water-borne structure about said object, comprising: two pairs of transducers mounted on said structure to form a rectangle therebetween;   transmitter means supplying electric impulses to said transducers to cause selected ones of said transducers to transmit direct acoustic impulses into the body of water .Iadd.the direct acoustic impulses from one pair of transducers being directed downwardly and inwardly, and the direct acoustic impulses from the other pair of transducers also being directed downwardly and inwardly.Iaddend.;   each transducer detecting the resultant reflected acoustic impulses produced by its direct acoustic impulses;   receiver means coupled to said transducers for selectively receiving the electric outputs therefrom; and   record producing means coupled to said receiver means for producing a record of the output of each transducer; and   navigation means on the surface of said body of water adapted to use said record for piloting said structure relative to said object.  .[.6. The system of claim 5, wherein the direct acoustic impulses from one pair of transducers are directed downwardly and inwardly, and the direct acoustic impulses from the other pair of transducers are also directed downwardly   
     
     
        and inwardly..]. 7. A method of guiding an underwater structure about a submerged, sound-reflecting object, wherein a dual-ranging sonar is mounted on a surface craft that tows the structure, the structure carrying a first pair of spaced-apart, electro-acoustic transducers for consecutively transmitting sound beams into the body of water and for detecting the echoes of the sound beams for recordation by the sonar; characterized in that said beams are directed downwardly and toward each other, and the records made by the sonar are used by the surface craft to 
     
     
        maneuver the structure about the submerged object. 8. The method according to claim 7 wherein said records are used to provide a continuous display 
     
     
        of the position of said structure relative to said object. 9. The method according to claim 8, wherein said structure carries a second pair of spaced-apart, electro-acoustic transducers; said four transducers are mounted on said structure at the corners of a rectangle; sound beams are consecutively transmitted from said first pair of transducers and their echoes detected by the sonar are used by the source craft to first locate the object and then to guide the structure toward the object; sound beams are then consecutively transmitted from said first and second pairs of transducers and their echoes detected by the sonar are used by the surface 
     
     
        craft to center the structure over the object. 10. A method for remotely maneuvering a pipe-burying sled in a body of water about a pipeline laying on the sea bottom, the sled including two spaced-apart elongated pontoons, wherein a transducer is mounted at the bow end of each pontoon, a sonar navigation system is positioned on a surface craft, said system being coupled to the transducers by a long cable containing electric conductors, electric signals are applied from said sonar to the transducers to cause said transducers to consecutively emit sound beams into said body of water, echoes are detected by the transducers for recordation by the sonar, and the recorded echoes are used to first locate the pipeline and 
     
     
        then to maneuver the sled toward and over the pipeline. 11. The method according to claim 10, wherein when said sled is over the pipeline, electric signals are applied to another pair of transducers mounted at the stern ends of said pontoons to cause both pairs of transducers to consecutively emit sound beams into the body of water, each transducer detecting the echoes produced by its sound beams, the echoes detected by the sonar being used to construct displays of the pipe and of the sea bottom relative to said structure, and the displays being used by the 
     
     
        surface craft to center the sled astride of the pipeline. 12. A method of piloting a structure, which is fully submerged in a body of water, about a stationary sound-reflecting member which is positioned under said structure, using a dual-ranging sonar system including: at least a pair of transducers mounted on said structure on either side of said member, a transceiver positioned on a craft movable on the upper water surface above said structure, an electric cable coupling said transceiver with said transducers, and monitoring means on said craft coupled to the output of said transceiver, said method comprising: sending electric pulses from said transceiver through said cable to said transducers;   transmitting direct sound waves from said transducers .Iadd.in a downward and inward direction .Iaddend.toward said member;   detecting with said transducers the return sound waves reflected from said member;   sending the detected electric signals from said transducers through said cable to said transceiver and thence to said monitoring means;   measuring the respective travel times of the direct and return sound waves between said transducers and said member;   converting the measured travel times into corresponding distances between said transducers and said member;   constructing a visual display of the position of said structure relative to said member; and   piloting said structure about said member with the aid of said display.   
     
     
        .Iadd.13.  A system for locating an acoustic reflecting object in a body of water and maneuvering a water-borne structure about such object, the system comprising: at least one pair of transducers mounted on said structure, each of said transducers of said pair being mounted on one side of said structure;   transmitter means supplying electric impulses to said transducers to cause selected ones of said transducers to transmit acoustic impulses into the body of water each of said transducers transmitting the acoustic impulses directed downwardly and inwardly;   each of said transducers detecting the resultant reflected acoustic impulses produced by its transmitted acoustic impulses and generating an electrical output in response to such detected acoustic impulses;   receiver means coupled to said transducers for selectively receiving the electrical outputs therefrom; and,   navigation means on the surface of the body of water adapted to use information received by said receiver means for piloting said structure relative to the object. .Iaddend. .Iadd.14. The system according to claim 13, further comprising record-producing means coupled to said receiver means for producing a record of the output of each of said tranducers and wherein said navigation means uses the information from the record for   
     
     
        piloting said structure. .Iaddend. .Iadd.15.  A system for locating an acoustic reflecting object in a body of water, comprising: a water-borne structure capable of being maneuvered through the water about the object;   at least one pair of transducers mounted on said structure, each of said transducers being mounted on one side of said structure;   transmitter means supplying electric impulses to said transducers to cause selected ones of said transducers to transmit acoustic impulses into the body of water, the transmitted acoustic impulses from each of said transducers being directed downwardly and inwardly;   each of said transducers detecting the resultant reflected acoustic impulses produced by its transmitted acoustic impulses and generating an electrical output in response to such detected acoustic impulses;   dual-ranging sonar means coupled to said transducers for selectively receiving the electrical output therefrom; and   navigation means on the surface of the body of water adapted to use information received by said dual-ranging sonar means for piloting said   
     
     
        structure relative to the object. .Iaddend. .Iadd.16.  A method of maneuvering a water-borne structure about a submerged, sound-reflecting object using a dual-ranging sonar system and a pair of spaced-apart, electro-acoustic transducers mounted on the structure, said method comprising: supplying electric impulses to said transducers to cause selective ones of the transducers to transmit acoustic impulses into the body of water, with the transmitted acoustic impulses being directed downwardly and inwardly;   detecting the resultant reflected acoustic impulses produced by the transmitted acoustic impulses;   coupling the detected resultant reflected acoustic impulses to the dual-ranging sonar system; and   maneuvering the structure about the submerged object in response to information obtained by the dual-ranging sonar system from the resultant reflected acoustic impulses. .Iaddend. .Iadd.17. The method according to claim 16 where the dual-ranging sonar system includes a mechanism for making records indicative of the resultant reflected acoustic impulses received by the transducers and wherein said method further includes the step of providing a continuous display record of the position of the   
     
     
        structure relative to the object. .Iaddend. .Iadd.18.  A method for remotely maneuvering a pipe-burying sled in a body of water about a pipeline lying on the sea bottom, the sled including two spaced-apart elongated pontoons and there are two transducers, each mounted on one of the pontoons, said method comprising the steps of: applying electrical signals to each of the transducers to cause the transducers to consecutively emit sound beams into the body of water;   detecting the echoes by the transducers;   generating electrical outputs in response to the echoes;   coupling the electrical outputs to a recording device for recording information relating to the location of the pipeline; and,   using the recorded information to first locate the pipeline and then to maneuver the sled toward and over the pipeline. .Iaddend.