Unmanned submersible vehicles and methods for operating the same in a body of liquid

A communications system for use in a body of liquid having a top surface and in air overlying the top surface, the communications system comprising:

• a plurality of unmanned submersible vehicles adapted to be distributed in the body of liquid, each of the vehicles including:
• a hull having first and second opposed ends, the hull including a first hull portion adjacent the first end and a second hull portion adjacent the second end, wherein the hull is elongated and defines a longitudinal axis;
• an integral antenna disposed within the first hull portion;
• a mass distribution system including a mass member within the hull, the mass distribution system being operable to move the mass member along the longitudinal axis away from and toward the antenna;
• an antenna positioning system configured to reorient the hull from a transit position to a signal position, wherein, when the hull is in the signal position:
• the first hull portion and the antenna are disposed above the second hull portion a greater vertical distance than when the hull is in the transit position;
• the first hull portion and the antenna are disposed above the top surface and in the air while at least the second hull portion remains submerged in the body of liquid;
• and
• the antenna is disposed entirely in the hull and is operative to emit signals through the air above the top surface without obstruction by the body of liquid and/or to receive signals through the air above the top surface without obstruction by the body of liquid, wherein the signals are emitted and/or received by the antenna within the hull;
• and
• a communications device operably connected to the antenna to generate and/or receive and process signals propagated through the air over the top surface.

A method for operating an unmanned submersible vehicle, the method comprising:

• providing an unmanned submersible vehicle for use in a body of liquid having a top surface and in air overlying the top surface, the vehicle including:
• a hull having first and second opposed ends, the hull including a first hull portion adjacent the first end and a second hull portion adjacent the second end, wherein the hull is elongated and defines a longitudinal axis;
• an integral antenna disposed within the first hull portion;
• a mass distribution system including a mass member within the hull, the mass distribution system being operable to move the mass member along the longitudinal axis away from and toward the antenna;
• an antenna positioning system configured to reorient the hull from a transit position to a signal position;
• and
• using the antenna positioning system, reorienting the hull from a transit position to a signal position, wherein, when the hull is in the signal position:
• the first hull portion and the antenna are disposed above the second hull portion a greater vertical distance than when the hull is in the transit position;
• the first hull portion and the antenna are disposed above the top surface and in the air while at least the second hull portion remains submerged in the body of liquid;
• and
• the antenna is disposed entirely in the hull and is operative to emit signals through the air above the top surface without obstruction by the body of liquid and/or to receive signals through the air above the top surface without obstruction by the body of liquid, wherein the signals are emitted and/or received by the antenna within the hull.

A method for operating an unmanned submersible vehicle, the method comprising:

• providing an unmanned submersible vehicle for use in a body of liquid having a top surface and in air overlying the top surface, the vehicle including:
• a hull having first and second opposed ends, the hull including a first hull portion adjacent the first end and a second hull portion adjacent the second end, wherein the hull is elongated and defines a longitudinal axis;
• an integral antenna disposed within and/or mounted on the first hull portion;
• an antenna positioning system configured to reorient the hull from a transit position to a signal position, the antenna positioning system comprising a propulsion system, a mass distribution system, and a buoyancy control system, wherein:
• the propulsion system includes a propulsor, the propulsion system being operable to actively displace fluid to drive the vehicle through the body of liquid;
• the mass distribution system includes a mass member within the hull, the mass distribution system being operable to move the mass member along the longitudinal axis away from and toward the antenna;
• and
• the buoyancy control system is operable to alter the net buoyancy of the vehicle between a minimum buoyancy and a maximum buoyancy;
• using the buoyancy control system, maintaining the vehicle submerged in the transit position and, with the vehicle in the submerged transit position, driving the vehicle in the body of liquid using the propulsion system;
• and
• using the antenna positioning system, reorienting the hull from the transit position to the signal position, wherein, when the hull is in the signal position:
• the first hull portion and the antenna are disposed above the second hull portion a greater vertical distance than when the hull is in the transit position;
• the first hull portion and the antenna are disposed above the top surface and in the air while at least the second hull portion remains submerged in the body of liquid;
• and
• the antenna is operative to emit signals through the air above the top surface and/or to receive signals through the air above the top surface;
• wherein reorienting the hull from the transit position to the signal position includes:
• using the buoyancy control system, increasing the net buoyancy of the vehicle to substantially the maximum buoyancy to cause the vehicle to ascend;
• and
• using the mass distribution system, moving the mass member longitudinally to a distal position away from the antenna, thereby shifting the center of mass of the vehicle away from the antenna.