EP1266823A2 - Submarine - Google Patents

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Publication number
EP1266823A2
EP1266823A2 EP02004155A EP02004155A EP1266823A2 EP 1266823 A2 EP1266823 A2 EP 1266823A2 EP 02004155 A EP02004155 A EP 02004155A EP 02004155 A EP02004155 A EP 02004155A EP 1266823 A2 EP1266823 A2 EP 1266823A2
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EP
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Prior art keywords
hydrophones
hull
submarine
hydrophone
submarine according
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EP02004155A
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German (de)
French (fr)
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EP1266823A3 (en
EP1266823B1 (en
Inventor
Kai Dr. Wicker
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Atlas Elektronik GmbH
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Atlas Elektronik GmbH
STN Atlas Elektronik GmbH
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/39—Arrangements of sonic watch equipment, e.g. low-frequency, sonar

Definitions

  • the invention relates to a submarine with a device for Detection of sound pulses emitting torpedoes according to the Preamble of claim 1.
  • the modern, fast-running, actively locating torpedo provides for Submarines pose the greatest threat. This applies in particular to Airborne torpedoes used by surface ships in one ballistic shot or shot from helicopters or planes in the water at a short distance from the destination be dropped. So it's for a submarine such torpedoes very quickly survive Detect short distance and the torpedo data, such as Bearing and / or distance to determine immediately Initiate countermeasures and use countermeasures effectively to be able to.
  • a well-known submarine of this type (L. kuhnle "Classification and Identification - CAI - by Submarine Sonars "Naval Forces No VII 1987, page 28) has a so-called intercept panorama sonar (IPS) with an intercept basis based on that the detection and bearing of the sound impulses Goals, e.g. Torpedoes, including the sound impulses related to theirs Frequency range, their modulation type, the pulse length and Pulse repetition rate analyzed to target a starting classify and identify.
  • the intercept basis is in the bow area of the submarine on the top of the hull and the outer skin arranged.
  • An example of the structure of the intercept basis is in the DE 196 12 503 C2.
  • the intercept base e.g. an outer contour in the form of a barrel or Barrel, the or the inside arranged by star Partitions made of rubber-coated sheet metal in e.g. six Sectors with 60 ° opening angle each is divided.
  • a plurality of hydrophones are arranged in each sector in rows and columns in a matrix of rigid polyurethane foam are glued in place.
  • the individual for whom high-frequency transmission frequency range of torpedo sonars designed hydrophones are through signal lines that in a centrally located tubular passage are connected to the signal processing unit.
  • the invention is based, with one Equipment for torpedo detection equipped submarine required reception base inexpensive and so too shape that attacking even from large elevation angles Torpedoes are detected and the torpedo data are sufficiently accurate can be detected.
  • the submarine according to the invention has the advantage that the required hydrophones to form a reception base, the designed for the transmission frequency range of torpedo sonars is, are commercially available and even with integrated Amplifiers still have a very small construction volume.
  • This small hydrophones can be placed on the surface of the Submarines are distributed directly at particularly suitable locations to be attached to the outer skin.
  • the Compliance with specified distances between the hydrophones or Hydrophone groups and a highly precise alignment are not required.
  • the installation of the hydrophones on the hull and Tower is very simple and can be done in a short amount of time be carried out.
  • the necessary measurement of the locations of the attached hydrophones is carried out acoustically and can accomplished with suitable software in a short time become.
  • Signal processing unit is not just an arbitrary one Distribution of the hydrophones over the surface of the submarine including location technology especially cheaper Surface areas possible, but it will already be with a two-dimensional arrangement of hydrophones on the curved surface of the submarine accurate bearing angles both in Get azimuth as well as elevation.
  • Distance measurements can be carried out Realize cross bearing with hydrophones or hydrophone groups, that are as far apart as possible, e.g. front and are arranged at the rear of the hull.
  • This orderly arrangement of the hydrophones the computing effort for determining the torpedo data in azimuth and elevation reduced, especially if the belt-like alignment of the hydrophones equidistant is made.
  • the invention is based on one illustrated in the drawing Embodiment described in more detail below.
  • the drawing shows a perspective view of a submarine, schematized, in connection with a device for Detection of actively locating torpedoes.
  • the submarine shown schematically in the drawing has one with an entry tower 11 and an outer skin 12 provided, elongated, cylinder-like hull 10 on, at the stern of a propeller 13 for driving the submarine is arranged.
  • an entry tower 11 and an outer skin 12 provided, elongated, cylinder-like hull 10 on, at the stern of a propeller 13 for driving the submarine is arranged.
  • Rudder 14, 15 arranged.
  • the submarine is equipped with a device for detection and location equipped with so-called actively locating torpedoes, which use a so-called torpedo sonar high-frequency sound impulses send out.
  • the facility has a variety of omnidirectional receiving hydrophones 16 and one Signal processing unit 17, which from the Output signals of the hydrophones 16 for obtaining Torpedo data determines at least their bearing.
  • the hydrophones 16 are for the typical transmission frequency range of Torpedo sonars designed and preferably have integrated Amplifier on. Such hydrophones 16 are available on the market and are characterized by a rather small-volume design.
  • the hydrophones 16 are above the surface of the submarine arbitrarily distributed and directly on the outer skin 12 of the submarine attached to structure-borne noise.
  • the electrical Output signals of the hydrophones 16 are only through here symbolically indicated signal lines 18 through the Outer skin 12 pass through into the interior of the submarine, with which Installed inside the hull 10 Signal processing unit 17 connected. Only the For the sake of simplicity, the drawing is Signal processing unit 17 outside the submarine shown.
  • hydrophones 16 and their arrangement are only shown schematically. As you can see there is one Number of hydrophones 16 to form a belt from each other spaced hydrophones 16 lined up and are several such hydrophone belts spread over the surface. There are two closed hydrophone belts 19 in the bow area and two closed hydrophone belts 19 in the rear area of the Boat body 10 arranged, the hydrophone belt 19 den Completely encircle hull 10 transversely to the longitudinal axis of the boat. Furthermore, an open hydrophone belt 20 is in each case on the Starboard and port side of the hull 10 parallel to Boat longitudinal axis arranged. Of these two hydrophone belts 20 is only the starboard side in the drawing Hydrophone belt 20 to see.
  • Any hydrophone belt 20 are arranged so that hydrophones 16 from the four closed hydrophone belts 19 the hydrophone belt 20 extend at the end.
  • Another two open hydrophone belts 21 are on the side walls of the entry tower 11 parallel to Boat longitudinal axis arranged. In the drawing are again only the two on the starboard wall of the entry tower 11 arranged hydrophone belt 21, which are in parallel distance aligned with each other. Between Hydrophone belts 21 can still individual hydrophones 16 so be arranged so that they are made with selected hydrophones 16 the hydrophone belts 21 form a vertical series.
  • the orderly, belt-like order is of the hydrophones 16 with a preferably constant distance between the hydrophones 16 only one of the possible versions of the Hydrophone equipment for the outer skin 12 of the submarine.
  • the Hydrophone assembly can be done arbitrarily, with such areas of the submarine can be selected that are not in the inspection area lie so that the hydrophones 16 are not mechanically damaged can be.
  • the distances of the hydrophones 16 from one another need not be periodic or regular and subject to also no conditions, such as less than ⁇ / 2, where ⁇ is the Is the wavelength of the received signals.
  • Hydrophones 16 are also provided, so that a total a linear hydrophone arrangement through the hydrophone belt 20 and 21, a two-dimensional hydrophone arrangement through the Hydrophone belt 19 on the cylindrically curved surface of the hull 10 and a hydrophone arrangement on the Front of the bow are present.
  • the location of the individual hydrophones 16 is obtained acoustically measured on a boat-fixed coordinate system, and the location coordinates are in the Signal processing unit 17 stored.
  • the signal processing unit 17 symbolized in the drawing by a block diagram is designed such that it determines the torpedo data, namely the bearing angle, from the transit time differences between the output signals of appropriately selected hydrophones 16.
  • the bearing angles are determined only in azimuth, only in elevation or both in azimuth and in elevation.
  • a signal processing method that determines the bearing in azimuth and elevation from the transit time differences between the output signals of a multisensor array is described in Berdugo, Doron Rosenhouse, Azhari "On direction finding of an emitting source from time delays", The Journal of the Acoustical Society of America , Vol. 105, No. 6, June 1999, pages 3355-3363.
  • the algorithm described there is based on an extension of a maximum likelihood estimator 24 by an algorithm for determining the signal delay times (time delay estimator) between combinations of the hydrophones 16 to be selected depending on the geometry.
  • the time delay estimator 23 calculates the electrical output signals S i der Hydrofone 16 the vector of the signal propagation times ⁇
  • the maximum likelihood estimator 24 determines an estimate for the incidence vector therefrom k and thus the azimuth angle ⁇ and the elevation angle ⁇ of the incident wavefront, which are shown as the bearing of the torpedo in a display unit 25.
  • the bearing angles determined by different hydrophone groups which are preferably far apart from one another on the hull 10, the distance of the torpedo can be determined by geometric calculation, which is generally known by the term “cross bearing”.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Crystals, And After-Treatments Of Crystals (AREA)

Abstract

The submarine has a hull (10) provided with an outer skin (12) having a number of omnidirectional reception hydrophones (16), coupled to a signal processing device (17) for location of a torpedo from the sound pulses emitted by the latter. The hydrophones are directly attached to the outer skin in a defined pattern across the hull, with location of the torpedo from the propagation time differences between the received signals.

Description

Die Erfindung betrifft ein U-Boot mit einer Einrichtung zur Erkennung von Schallimpulse aussendenden Torpedos gemäß dem Oberbegriff des Anspruchs 1.The invention relates to a submarine with a device for Detection of sound pulses emitting torpedoes according to the Preamble of claim 1.

Der moderne, schnellaufende, aktiv ortende Torpedo stellt für U-Boote die größte Gefährdung dar. Dies gilt insbesondere für luftverbrachte Torpedos, die von Oberflächenschiffen in einer ballistischen Schußbahn abgeschossen oder von Hubschraubern oder Flugzeugen auf kurze Distanz zum Ziel ins Wasser abgeworfen werden. Für ein U-Boot ist es daher überlebensnotwendig solche Torpedos sehr schnell auch auf kurzer Distanz zu detektieren und die Torpedodaten, wie Peilung und/oder Entfernung, zu bestimmen, um sofort Abwehrmanöver einleiten und Abwehrwaffen effektiv einsetzten zu können.The modern, fast-running, actively locating torpedo provides for Submarines pose the greatest threat. This applies in particular to Airborne torpedoes used by surface ships in one ballistic shot or shot from helicopters or planes in the water at a short distance from the destination be dropped. So it's for a submarine such torpedoes very quickly survive Detect short distance and the torpedo data, such as Bearing and / or distance to determine immediately Initiate countermeasures and use countermeasures effectively to be able to.

Ein bekanntes U-Boot dieser Art (L. Kühnle "Classification and Identification - CAI - by Submarine Sonars" Naval Forces No VII 1987, Seite 28) weist hierzu ein sog. Intercept-Panorama-Sonar (IPS) mit einer Interceptbasis auf, das neben der Detektion und Peilung der Schallimpulse abstrahlenden Ziele, z.B. Torpedos, auch die Schallimpulse bezüglich ihres Frequenzbereichs, ihrer Modulationsart, der Pulslänge und Pulswiederholrate analysiert, um ein anlaufendes Ziel zu klassifizieren und zu identifizieren. Die Interceptbasis ist im Bugbereich des U-Boots auf der Oberseite des Bootskörpers und der Außenhaut angeordnet.A well-known submarine of this type (L. Kühnle "Classification and Identification - CAI - by Submarine Sonars "Naval Forces No VII 1987, page 28) has a so-called intercept panorama sonar (IPS) with an intercept basis based on that the detection and bearing of the sound impulses Goals, e.g. Torpedoes, including the sound impulses related to theirs Frequency range, their modulation type, the pulse length and Pulse repetition rate analyzed to target a starting classify and identify. The intercept basis is in the bow area of the submarine on the top of the hull and the outer skin arranged.

Ein Beispiele für den Aufbau der Interceptbasis ist in der DE 196 12 503 C2 beschrieben. Dort besitzt die Interceptbasis z.B. eine äußere Kontur in Form einer Tonne oder eines Fasses, die oder das im Innern durch sternförmig angeordnete Trennwände aus gummibeschichtetem Metallblech in z.B. sechs Sektoren mit jeweils 60° Öffnungswinkel unterteilt ist. In jedem Sektor ist eine Vielzahl von Hydrofonen angeordnet, die in Reihen und Spalten in eine Matrix aus Polyurethan-Hartschaum eingeklebt sind. Die einzelnen, für den hochfrequenten Sendefrequenzbereich von Torpedosonaren ausgelegten Hydrofone werden durch Signalleitungen, die in einem mittig angeordneten, rohrförmigen Durchgang verlegt sind, mit der Signalverarbeitungseinheit verbunden.An example of the structure of the intercept basis is in the DE 196 12 503 C2. There is the intercept base e.g. an outer contour in the form of a barrel or Barrel, the or the inside arranged by star Partitions made of rubber-coated sheet metal in e.g. six Sectors with 60 ° opening angle each is divided. In A plurality of hydrophones are arranged in each sector in rows and columns in a matrix of rigid polyurethane foam are glued in place. The individual for whom high-frequency transmission frequency range of torpedo sonars designed hydrophones are through signal lines that in a centrally located tubular passage are connected to the signal processing unit.

Eine solche aus einem einzelnen Modul mit einer Vielzahl von Hydrofonen bestehende Empfangsbasis ist fertigungstechnisch sehr aufwendig und entsprechend teuer. Ein anlaufender Torpedo kann mit dieser Empfangsbasis zudem nur dann ausreichend genau gepeilt werden, wenn er sich etwa in der Ebene bewegt, in der die Empfangsbasis angeordnet ist. Ein größerer Versatz der Anlaufebene des Torpedos in Elevation führt dagegen zu ungenauen Peilwinkeln. Zudem ist die Empfangsbasis "blind" gegen steil von oben das U-Boot anlaufende Torpedos.Such from a single module with a variety of The existing reception base for hydrophones is production-related very complex and accordingly expensive. A starting Torpedo can only then with this reception base be sufficiently accurate if it is about in the Moved plane in which the receiving base is arranged. On greater offset in elevation of the torpedo's approach plane leads to imprecise bearing angles. In addition, the Receiving base "blind" against steep from above the submarine starting torpedoes.

Der Erfindung liegt die Aufgabe zugrunde, bei einem mit einer Einrichtung zur Torpedoerkennung ausgerüsteten U-Boot die erforderliche Empfangsbasis kostengünstig und so zu gestalten, daß auch aus großen Elevationswinkeln angreifende Torpedos detektiert und die Torpedodaten ausreichend genau erfaßt werden können.The invention is based, with one Equipment for torpedo detection equipped submarine required reception base inexpensive and so too shape that attacking even from large elevation angles Torpedoes are detected and the torpedo data are sufficiently accurate can be detected.

Die Aufgabe ist erfindungsgemäß durch die Merkmale im Anspruch 1 gelöst.The object is according to the features in Claim 1 solved.

Das erfindungsgemäße U-Boot hat den Vorteil, daß die erforderlichen Hydrofone zur Bildung einer Empfangsbasis, die für den Sendefrequenzbereich von Torpedosonaren ausgelegt ist, im Handel erhältlich sind und selbst mit integrierten Verstärkern noch ein sehr kleines Bauvolumen besitzen. Diese baukleinen Hydrofone können beliebig auf der Oberfläche des U-Boots verteilt an dafür besonders geeigneten Orten direkt auf der Außenhaut befestigt werden. Dabei werden die Hydrofone sowohl im Bug- und Heckbereich des Bootskörpers als auch im Turmbereich angeordnet, so daß durch eine geeignete Auswahl von räumlich günstig plazierten Hydrofonen wahlweise eine lineare oder flächige Empfangsbasis gebildet werden kann. Anders als bei bekannten Empfangsbasen ist dabei die Einhaltung vorgegebener Abstände zwischen den Hydrofonen oder Hydrofongruppen und eine hochgenaue Ausrichtung nicht erforderlich. Die Montage der Hydrofone am Bootskörper und Turm ist sehr einfach und kann mit geringem Zeitaufwand ausgeführt werden. Die notwendige Vermessung der Orte der angebrachten Hydrofone wird akustisch durchgeführt und kann mit einer geeigneten Software in kurzer Zeit bewerkstelligt werden.The submarine according to the invention has the advantage that the required hydrophones to form a reception base, the designed for the transmission frequency range of torpedo sonars is, are commercially available and even with integrated Amplifiers still have a very small construction volume. This small hydrophones can be placed on the surface of the Submarines are distributed directly at particularly suitable locations to be attached to the outer skin. The Hydrophones in the bow and stern area of the hull as well also arranged in the tower area, so that by a suitable Choice of spatially favorably placed hydrophones a linear or flat reception base can be formed can. In contrast to known receiving bases, the Compliance with specified distances between the hydrophones or Hydrophone groups and a highly precise alignment are not required. The installation of the hydrophones on the hull and Tower is very simple and can be done in a short amount of time be carried out. The necessary measurement of the locations of the attached hydrophones is carried out acoustically and can accomplished with suitable software in a short time become.

Durch die angegebene Art der Ausgestaltung der Signalverarbeitungseinheit ist nicht nur eine willkürliche Verteilung der Hydrofone über die Oberfläche des U-Boots unter Einbeziehung ortungstechnisch besonders günstiger Oberflächenbereiche möglich, sondern es werden bereits mit einer zweidimensionalen Anordnung von Hydrofonen auf der gekrümmten Oberfläche des U-Boots genaue Peilwinkel sowohl im Azimut als auch in Elevation erhalten. Je mehr Hydrofone dabei herangezogen werden, desto genauer fällt das Peilergebnis aus. Sind mehr Hydrofone einbezogen als Freiheitsgrade zu messen sind, so ist zur Bestimmung der Peilwinkel die Anwendung eines Least-Square-Schätzverfahrens erforderlich. Entfernungsmessungen lassen sich durch Kreuzpeilung mit Hydrofonen oder Hydrofongruppen realisieren, die möglichst weit voneinander entfernt sind, z.B. vorn und hinten am Bootskörper angeordnet sind.Due to the specified type of design Signal processing unit is not just an arbitrary one Distribution of the hydrophones over the surface of the submarine including location technology especially cheaper Surface areas possible, but it will already be with a two-dimensional arrangement of hydrophones on the curved surface of the submarine accurate bearing angles both in Get azimuth as well as elevation. The more hydrophones are used, the more accurate it is DF result from. Are more hydrophones included than Degrees of freedom are to be measured, so the determination of Peilwinkel uses a least-square estimation method required. Distance measurements can be carried out Realize cross bearing with hydrophones or hydrophone groups, that are as far apart as possible, e.g. front and are arranged at the rear of the hull.

Zweckmäßige Ausführungsformen des erfindungsgemäßen U-Boots mit vorteilhaften Weiterbildungen und Ausgestaltungen der Erfindung ergeben sich aus den weiteren Ansprüchen.Appropriate embodiments of the submarine according to the invention with advantageous developments and refinements of Invention result from the further claims.

Gemäß einer vorteilhaften Ausführungsform der Erfindung ist eine Anzahl von Hydrofonen zu einem Gürtel aus voneinander beabstandeten Hydrofonen aneinandergereiht und sind mehrere solcher Hydrofongürtel auf der Oberfläche des U-Boots verteilt. Durch diese geordnete Anordnung der Hydrofone wird der Rechenaufwand zur Bestimmung der Torpedodaten in Azimut und Elevation reduziert, insbesondere dann, wenn die gürtelartige Aneinanderreihung der Hydrofone äquidistant vorgenommen wird. Die in Vertikalrichtung ausgerichteten geschlossenen Hydrofongürtel im Bug- und Heckbereich werden zur Gewinnung der Torpedodaten in Elevation und die horizontal ausgerichteten offenen Hydrofongürtel an den Flanken des Bootskörpers zur Gewinnung der Torpedodaten im Azimut ausgewählt.According to an advantageous embodiment of the invention a number of hydrophones to form a belt from each other spaced hydrophones and are several such a hydrophone belt on the surface of the submarine distributed. This orderly arrangement of the hydrophones the computing effort for determining the torpedo data in azimuth and elevation reduced, especially if the belt-like alignment of the hydrophones equidistant is made. The aligned in the vertical direction closed hydrophone belts in the bow and stern area to obtain the torpedo data in elevation and horizontally aligned open hydrophone belt on the Flanks of the hull for obtaining the torpedo data in the Azimuth selected.

Die Erfindung ist anhand eines in der Zeichnung illustrierten Ausführungsbeispiels im folgenden näher beschrieben. Dabei zeigt die Zeichnung eine perspektivische Darstellung eines U-Boots, schematisiert, in Verbindung mit einer Einrichtung zur Erkennung aktiv ortender Torpedos.The invention is based on one illustrated in the drawing Embodiment described in more detail below. there the drawing shows a perspective view of a submarine, schematized, in connection with a device for Detection of actively locating torpedoes.

Das in der Zeichnung schematisiert dargestellte U-Boot weist einen mit einem Einstiegsturm 11 und einer Außenhaut 12 versehenen, langgestreckten, zylinderähnlichen Bootskörper 10 auf, an dessen Heck ein Propeller 13 zum Antrieb des U-Boots angeordnet ist. Am Heck und seitlich am Einstiegsturm 11 sind Ruder 14, 15 angeordnet.The submarine shown schematically in the drawing has one with an entry tower 11 and an outer skin 12 provided, elongated, cylinder-like hull 10 on, at the stern of a propeller 13 for driving the submarine is arranged. At the rear and at the side of the entry tower 11 Rudder 14, 15 arranged.

Das U-Boot ist mit einer Einrichtung zur Detektion und Ortung von sog. aktiv ortenden Torpedos ausgerüstet, die mittels eines sog. Torpedosonars hochfrequente Schallimpulse aussenden. Die Einrichtung weist eine Vielzahl von omnidirektional empfangenden Hydrofonen 16 sowie eine Signalverarbeitungseinheit 17 auf, die aus den Ausgangssignalen der Hydrofone 16 zur Gewinnung von Torpedodaten zumindest deren Peilung bestimmt. Die Hydrofone 16 sind für den typischen Sendefrequenzbereich von Torpedosonaren ausgelegt und weisen vorzugsweise integrierte Verstärker auf. Solche Hydrofone 16 sind im Markt erhältlich und zeichnen sich durch eine recht volumenkleine Bauform aus. Die Hydrofone 16 sind über die Oberfläche des U-Boots beliebig verteilt und direkt auf der Außenhaut 12 des U-Boots körperschallentkoppelt befestigt. Die elektrischen Ausgangssignale der Hydrofone 16 sind durch hier nur symbolisch angedeutete Signalleitungen 18, die durch die Außenhaut 12 in das U-Boot-Innere hindurchtreten, mit der im Innern des Bootskörpers 10 installierten Signalverarbeitungseinheit 17 verbunden. Nur der vereinfachten Darstellung halber ist in der Zeichnung die Signalverarbeitungseinheit 17 außerhalb des U-Boots dargestellt.The submarine is equipped with a device for detection and location equipped with so-called actively locating torpedoes, which use a so-called torpedo sonar high-frequency sound impulses send out. The facility has a variety of omnidirectional receiving hydrophones 16 and one Signal processing unit 17, which from the Output signals of the hydrophones 16 for obtaining Torpedo data determines at least their bearing. The hydrophones 16 are for the typical transmission frequency range of Torpedo sonars designed and preferably have integrated Amplifier on. Such hydrophones 16 are available on the market and are characterized by a rather small-volume design. The hydrophones 16 are above the surface of the submarine arbitrarily distributed and directly on the outer skin 12 of the submarine attached to structure-borne noise. The electrical Output signals of the hydrophones 16 are only through here symbolically indicated signal lines 18 through the Outer skin 12 pass through into the interior of the submarine, with which Installed inside the hull 10 Signal processing unit 17 connected. Only the For the sake of simplicity, the drawing is Signal processing unit 17 outside the submarine shown.

In der Zeichnung sind die Hydrofone 16 und ihre Anordnung nur schematisch dargestellt. Wie dort ersichtlich ist, ist eine Anzahl von Hydrofonen 16 zu einem Gürtel aus voneinander beabstandeten Hydrofonen 16 aneinandergereiht und sind mehrerer solcher Hydrofongürtel auf der Oberfläche verteilt. Dabei sind zwei geschlossene Hydrofongürtel 19 im Bugbereich und zwei geschlossene Hydrofongürtel 19 im Heckbereich des Bootskörpers 10 angeordnet, wobei die Hydrofongürtel 19 den Bootskörper 10 quer zur Bootslängsachse vollständig umlaufen. Weiterhin ist ein offener Hydrofongürtel 20 jeweils auf der Steuer- und Backbordseite des Bootskörpers 10 parallel zur Bootslängsachse angeordnet. Von diesen beiden Hydrofongürteln 20 ist in der Zeichnung nur der steuerbordseitige Hydrofongürtel 20 zu sehen. Dabei kann jeder Hydrofongürtel 20 so angeordnet werden, daß Hydrofone 16 aus den vier geschlossenen Hydrofongürteln 19 den Hydrofongürtel 20 endseitig verlängern. Weitere zwei offene Hydrofongürtel 21 sind an den Seitenwänden des Einstiegturms 11 parallel zur Bootslängsachse angeordnet. In der Zeichnung sind wiederum nur die beiden an der Steuerbordwand des Einstiegturms 11 angeordnete Hydrofongürtel 21, die im Parallelabstand zueinander ausgerichtet sind, zu sehen. Zwischen den Hydrofongürteln 21 können noch einzelne Hydrofone 16 so angeordnet werden, daß sie mit ausgewählten Hydrofonen 16 aus den Hydrofongürteln 21 eine vertikale Reihung bilden.In the drawing, the hydrophones 16 and their arrangement are only shown schematically. As you can see there is one Number of hydrophones 16 to form a belt from each other spaced hydrophones 16 lined up and are several such hydrophone belts spread over the surface. There are two closed hydrophone belts 19 in the bow area and two closed hydrophone belts 19 in the rear area of the Boat body 10 arranged, the hydrophone belt 19 den Completely encircle hull 10 transversely to the longitudinal axis of the boat. Furthermore, an open hydrophone belt 20 is in each case on the Starboard and port side of the hull 10 parallel to Boat longitudinal axis arranged. Of these two hydrophone belts 20 is only the starboard side in the drawing Hydrophone belt 20 to see. Any hydrophone belt 20 are arranged so that hydrophones 16 from the four closed hydrophone belts 19 the hydrophone belt 20 extend at the end. Another two open hydrophone belts 21 are on the side walls of the entry tower 11 parallel to Boat longitudinal axis arranged. In the drawing are again only the two on the starboard wall of the entry tower 11 arranged hydrophone belt 21, which are in parallel distance aligned with each other. Between Hydrophone belts 21 can still individual hydrophones 16 so be arranged so that they are made with selected hydrophones 16 the hydrophone belts 21 form a vertical series.

Wie bereits erwähnt, ist die geordnete, gürtelartige Reihung der Hydrofone 16 mit vorzugsweise konstantem Abstand zwischen den Hydrofonen 16 nur eine von möglichen Ausführungen der Hydrofonbestückung der Außenhaut 12 des U-Boots. As already mentioned, the orderly, belt-like order is of the hydrophones 16 with a preferably constant distance between the hydrophones 16 only one of the possible versions of the Hydrophone equipment for the outer skin 12 of the submarine.

Grundsätzlich und für die Montage vorteilhaft kann die Hydrofonbestückung beliebig erfolgen, wobei solche Bereiche des U-Boots ausgewählt werden, die nicht im Begehungsbereich liegen, so daß die Hydrofone 16 nicht mechanisch beschädigt werden können. Die Abstände der Hydrofone 16 voneinander müssen weder periodisch noch regelmäßig sein und unterliegen auch keinen Bedingungen, wie z.B. kleiner λ/2, wobei λ die Wellenlänge der empfangenen Signale ist.In principle and advantageous for assembly, the Hydrophone assembly can be done arbitrarily, with such areas of the submarine can be selected that are not in the inspection area lie so that the hydrophones 16 are not mechanically damaged can be. The distances of the hydrophones 16 from one another need not be periodic or regular and subject to also no conditions, such as less than λ / 2, where λ is the Is the wavelength of the received signals.

Auf der Stirnseite 22 des Bugs des Bootskörpers 10 können ebenfalls Hydrofone 16 vorgesehen werden, so daß insgesamt eine lineare Hydrofonanordnung durch die Hydrofongürtel 20 und 21, eine zweidimensionale Hydrofonanordnung durch die Hydrofongürtel 19 auf der zylindrisch gewölbten Oberfläche des Bootskörpers 10 und eine Hydrofonanordnung an der Frontseite des Bugs vorhanden sind.On the front 22 of the bow of the hull 10 can Hydrophones 16 are also provided, so that a total a linear hydrophone arrangement through the hydrophone belt 20 and 21, a two-dimensional hydrophone arrangement through the Hydrophone belt 19 on the cylindrically curved surface of the hull 10 and a hydrophone arrangement on the Front of the bow are present.

Nach Bestückung der Außenhaut 12 des U-Boots mit den Hydrofonen 16 wird der Ort der einzelnen Hydrofone 16 bezogen auf ein bootsfestes Koordinatensystem akustisch vermessen, und die Ortskoordinaten werden in der Signalverarbeitungseinheit 17 abgespeichert.After equipping the outer skin 12 of the submarine with the Hydrophones 16 the location of the individual hydrophones 16 is obtained acoustically measured on a boat-fixed coordinate system, and the location coordinates are in the Signal processing unit 17 stored.

Die in der Zeichnung durch ein Blockschaltbild symbolisierte Signalverarbeitungseinheit 17 ist so ausgebildet, daß sie die Bestimmung von Torpedodaten, nämlich der Peilwinkel, aus den Laufzeitdifferenzen zwischen den Ausgangssignalen entsprechend ausgewählter Hydrofone 16 vornimmt. Je nach Anordnung der ausgewählten Hydrofone 16 werden dabei die Peilwinkel nur im Azimut, nur in Elevation oder sowohl im Azimut als auch in Elevation ermittelt. Ein Signalverarbeitungsverfahren, das die Peilung in Azimut und Elevation aus den Laufzeitdifferenzen zwischen den Ausgangssignalen eines Multisensor-Array ermittelt ist in Berdugo, Doron Rosenhouse, Azhari "On direction finding of an emitting source from time delays", The Journal of the Acoustical Society of America, Vol. 105, No. 6, June 1999, Seite 3355 - 3363, beschrieben. Kurzgefaßt basiert der dort beschriebene Algorithmus auf einer Erweiterung eines Maximum Likelihood Estimators 24 durch einen Algorithmus zur Bestimmung der Signallaufzeiten (Time Delay Estimator) zwischen je nach Geometrie zu wählenden Kombinationen der Hydrofone 16. Der Time Delay Estimator 23 berechnet aus den elektrischen Ausgangssignalen Si der Hydrofone 16 den Vektor der Signallaufzeiten τ, und der Maximum Likelihood Estimator 24 bestimmt daraus einen Schätzwert für den Einfallsvektor k und somit den Azimutwinkel ϑ und den Elevationswinkel ε der einfallenden Wellenfront, die als Peilung des Torpedos in einer Anzeigeeinheit 25 dargestellt werden. Mit von verschiedenen Hydrofongruppen, die vorzugsweise weit am Bootskörper 10 voneinander entfernt liegen, ermittelten Peilwinkeln kann durch geometrische Berechnung die Entfernung des Torpedos ermittelt werden, was allgemein unter dem Begriff "Kreuzpeilung" bekannt ist.The signal processing unit 17 symbolized in the drawing by a block diagram is designed such that it determines the torpedo data, namely the bearing angle, from the transit time differences between the output signals of appropriately selected hydrophones 16. Depending on the arrangement of the selected hydrophones 16, the bearing angles are determined only in azimuth, only in elevation or both in azimuth and in elevation. A signal processing method that determines the bearing in azimuth and elevation from the transit time differences between the output signals of a multisensor array is described in Berdugo, Doron Rosenhouse, Azhari "On direction finding of an emitting source from time delays", The Journal of the Acoustical Society of America , Vol. 105, No. 6, June 1999, pages 3355-3363. In short, the algorithm described there is based on an extension of a maximum likelihood estimator 24 by an algorithm for determining the signal delay times (time delay estimator) between combinations of the hydrophones 16 to be selected depending on the geometry. The time delay estimator 23 calculates the electrical output signals S i der Hydrofone 16 the vector of the signal propagation times τ , and the maximum likelihood estimator 24 determines an estimate for the incidence vector therefrom k and thus the azimuth angle ϑ and the elevation angle ε of the incident wavefront, which are shown as the bearing of the torpedo in a display unit 25. With the bearing angles determined by different hydrophone groups, which are preferably far apart from one another on the hull 10, the distance of the torpedo can be determined by geometric calculation, which is generally known by the term “cross bearing”.

Claims (9)

U-Boot mit einem eine Außenhaut (12) aufweisenden Bootskörper (10) und mit einer Einrichtung zur Erkennung von Schallimpulse aussendenden Torpedos, die eine Vielzahl von omnidirektional empfangenden Hydrofonen (16) sowie eine Signalverarbeitungseinheit (17) zur Bestimmung von Torpedodaten aus den Ausgangssignalen der Hydrofone (16) aufweist, dadurch gekennzeichnet, daß die Hydrofone (16) über die Oberfläche des Bootskörpers (10) beliebig verteilt und direkt auf dessen Außenhaut (12) befestigt sind und daß die Signalverarbeitungseinheit (17) so ausgebildet ist, daß sie zur Bestimmung von Torpedodaten die Peilung der Torpedos aus den Laufzeitdifferenzen zwischen den Ausgangssignalen ausgewählter Hydrofone (16) ermittelt.Submarine with a hull (10) having an outer skin (12) and with a device for the detection of sound pulses emitting torpedoes, a plurality of omnidirectionally receiving hydrophones (16) and a signal processing unit (17) for determining torpedo data from the output signals of the Hydrophones (16), characterized in that the hydrophones (16) are arbitrarily distributed over the surface of the hull (10) and attached directly to the outer skin (12) and that the signal processing unit (17) is designed so that it is for determination The bearing of the torpedoes is determined from torpedo data from the transit time differences between the output signals of selected hydrophones (16). U-Boot nach Anspruch 1 mit einem auf dem Bootskörper (10) aufgesetzten Einstiegsturm (11), dadurch gekennzeichnet, daß eine Anzahl von Hydrofonen (16) am Einstiegsturm (11) beliebig verteilt und unmittelbar an der Turmwand befestigt ist.Submarine according to claim 1 with an entry tower (11) placed on the hull (10), characterized in that a number of hydrophones (16) are arbitrarily distributed on the entry tower (11) and attached directly to the tower wall. U-Boot nach Anspruch 1 oder 2, dadurch gekennzeichnet, daß jeweils eine Anzahl von Hydrofonen (16) zu Gürteln (19 - 21) von voneinander beabstandeten Hydrofonen (16) aneinandergereiht ist. Submarine according to claim 1 or 2, characterized in that in each case a number of hydrophones (16) to form belts (19-21) of hydrophones (16) spaced apart from one another are lined up. U-Boot nach Anspruch 3, dadurch gekennzeichnet, daß mindestens ein geschlossener Hydrofongürtel (19) im Bugbereich und mindestens ein geschlossener Hydrofongürtel (19) im Heckbereich des Bootskörpers (10), den Bootskörper (10) quer zur Bootslängsachse umlaufend, angeordnet ist.Submarine according to Claim 3, characterized in that at least one closed hydrophone belt (19) is arranged in the bow region and at least one closed hydrophone belt (19) in the stern region of the hull (10), the hull (10) running transversely to the longitudinal axis of the boat. U-Boot nach Anspruch 3 oder 4, dadurch gekennzeichnet, daß mindestens ein offener Hydrofongürtel (21) jeweils auf der Steuer- und Backbordseite des Einstiegturms (11) in etwa parallel zur Bootslängsachse angeordnet ist.Submarine according to Claim 3 or 4, characterized in that at least one open hydrophone belt (21) is arranged approximately parallel to the longitudinal axis of the boat on the starboard and port side of the entry tower (11). U-Boot nach einem der Ansprüche 3 - 5, dadurch gekennzeichnet, daß mindestens ein offener Hydrofongürtel (20) auf der Steuer- und Backbordseite des Bootskörpers (10) parallel zur Bootslängsachse angeordnet ist.Submarine according to one of Claims 3-5, characterized in that at least one open hydrophone belt (20) is arranged on the starboard and port side of the hull (10) parallel to the longitudinal axis of the boat. U-Boot nach einem der Ansprüche 1 - 6, dadurch gekennzeichnet, daß eine Anzahl von Hydrofonen (16) auf der Stirnseite (22) des Bugs des Bootskörpers (10) angeordnet ist.Submarine according to one of Claims 1-6, characterized in that a number of hydrophones (16) are arranged on the end face (22) of the bow of the hull (10). U-Boot nach einem der Ansprüche 1 - 7, dadurch gekennzeichnet, daß die Befestigung der Hydrofone (16) körperschallentkoppelt ausgeführt ist.Submarine according to one of Claims 1-7, characterized in that the attachment of the hydrophones (16) is carried out in a manner which is decoupled from structure-borne noise. U-Boot nach einem der Ansprüche 1 - 8, dadurch gekennzeichnet, daß die bezüglich eines fahrzeugfesten Koordinatensystems vorzugsweise akustisch vermessenen Orte der auf der Oberfläche des U-Boots verteilten Hydrofone (16) in der Signalverarbeitungseinheit (17) abgespeichert sind.Submarine according to one of Claims 1-8, characterized in that the locations of the hydrophones (16) distributed on the surface of the submarine , which are preferably acoustically measured with respect to a coordinate system fixed to the vehicle, are stored in the signal processing unit (17).
EP02004155A 2001-06-15 2002-02-26 Submarine Revoked EP1266823B1 (en)

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DE10128973A DE10128973C1 (en) 2001-06-15 2001-06-15 Submarine with active torpedo location device using omnidirectional hydrophones for detection of sound pulses emitted by torpedo
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CN102582808A (en) * 2012-03-10 2012-07-18 徐国元 Unmanned submarine
RU2517782C2 (en) * 2012-06-15 2014-05-27 Открытое акционерное общество "Таганрогский научно-исследовательский институт связи" (ОАО "ТНИИС") Method of defending submarine against wide-range mine-torpedo
CN106644043A (en) * 2016-12-14 2017-05-10 中国船舶重工集团公司第七0研究所 Torpedo modular embedded type cylindrical conformal acoustic base array
DE102019212636A1 (en) * 2019-08-23 2021-02-25 Atlas Elektronik Gmbh Location signal receiver for determining a sound pulse image
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PT1266823E (en) 2007-07-17
AU784786B2 (en) 2006-06-22
DE50210101D1 (en) 2007-06-21
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AU4445802A (en) 2002-12-19
EP1266823B1 (en) 2007-05-09

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