Dynamic method of searching anthropogenic objects in use of seabed with autonomous underwater vehicles

The dynamic method of searching anthropogenic objects in the seabed with autonomous underwater vehicles use is offered. Unlike a static method where all devices with geophones onboard are buried and attached to a bottom simultaneously and after the end of a search session float at the same time, the continuity of guiding of search due to dynamic behavior of group of devices is provided in the offered method. It is offered that while the main part of devices with geophones listens to the reflected signal, other part of devices moves further along the route. The continuity of guiding of seismic exploration in the preset area and essential abbreviation of time for its carrying out is in such a way reached. The algorithm of the coordinated behavior of devices with geophones onboard and the submersible moving the radiator is given. The mathematical model of functioning of "the radiator — geophones" system is described. Experiments by determination of optimum parameters of guiding of seismic exploration of anthropogenic objects are made. Results of simulation allowed to evaluate a scoring from use of the offered method, to determine its optimum parameters and to develop recommendations about its use for search of anthropogenic objects in the thickness of a seabed.