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• INCREASING THE SEARCH CAPABILITIES OF AUTONOMOUS UNINHABITED UNDERWATER VEHICLES THROUGH THE USE OF MULTI-CHANNEL MAGNETOMETRIC SYSTEMS

  N.A. Sokolov, A.V. Rychkov

  2021-04-04

  Abstract ▼

  The article substantiates the relevance of solving the problems of searching for unexploded
  ordnance, as well as archaeological and geological surveys in the waters of inland waters and
  coastal zones of the Russian Federation. Using examples of mine clearance operations in the Baltic
  Sea and a detailed magnetometric survey of the Phanagoria water area, the extensive capabilities
  of modern equipment for localization of objects covered by bottom sediments and visually
  invisible on the bottom surface are shown. The advantages of using autonomous uninhabited underwater
  vehicles for the method of searching for ferromagnetic objects based on the registration
  of spatially distributed magnetic anomalies are considered. The directions of development of multichannel
  magnetometric search tools are shown. The potential capabilities of multichannel
  magnetometric systems for identifying search objects are revealed. Using the example of the existing
  technology of diving search, it is shown that the rate of exploration provided in this way is
  extremely low even under the most favorable conditions: the best visibility, a gentle slope of the
  bottom with a solid base. At the same time, the time for exploration of a section of the water area
  by diving along one shore will be about 5 hours in favorable conditions, and, therefore, this method
  cannot be used when examining large water areas. Taking into account the level of technology
  achieved at the present stage, it is proposed to use autonomous uninhabited underwater vehicles
  with a multi-channel magnetometric system installed as a target load for automating underwater
  operations. In addition to automating the process of performing tasks, the use of uninhabited underwater
  vehicles will either completely eliminate or significantly reduce the dangerous impact on
  humans of measures to search for unexploded ordnance and harmful factors of deep-sea operations,
  as well as reduce material and time costs by reducing operations for servicing diving
  equipment. Processing the survey results and creating a map of magnetic anomalies will allow you
  to identify structures whose geomagnetic properties are markedly different from the natural magnetic
  background. Such a technique can significantly increase the information content and reliability
  of the results of the survey of water areas, providing the identification of visually invisible
  objects that have their own magnetic field. Based on the theory of the electromagnetic field and
  magnetostatics, a method for calculating the parameters and efficiency of the multichannel
  magnetometric system for uninhabited underwater vehicles has been developed. The method is
  designed to evaluate the parameters and capabilities for detecting ferromagnetic objects and to
  make a preliminary assessment of the search efficiency. As a criterion (achieving a positive result
  of evaluating the parameters and efficiency of the multi-channel magnetometric system), in accordance
  with the IMAS Mine Action Standards, the following condition is accepted: detection of
  an object of a certain type at a given depth. The influence of the above data on the solution of the
  problem was evaluated as a result of computer simulation in the software environment of the computer-
  aided design system MathCAD with further visualization of the results.