JP2780698B2 - Underwater vehicle detection device - Google Patents
Underwater vehicle detection deviceInfo
- Publication number
- JP2780698B2 JP2780698B2 JP7288996A JP7288996A JP2780698B2 JP 2780698 B2 JP2780698 B2 JP 2780698B2 JP 7288996 A JP7288996 A JP 7288996A JP 7288996 A JP7288996 A JP 7288996A JP 2780698 B2 JP2780698 B2 JP 2780698B2
- Authority
- JP
- Japan
- Prior art keywords
- reflected wave
- time difference
- propagation time
- underwater vehicle
- signal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、バイスタティック
方式による水中航走体検出装置に関し、特に、水中航走
体からの反射波を自動的に判別できるようにした水中航
走体検出装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a bistatic underwater vehicle detection device, and more particularly to an underwater vehicle detection device capable of automatically determining a reflected wave from an underwater vehicle.
【０００２】[0002]
【従来の技術】バイスタティック方式による水中航走体
検出装置は、音源と受信ハイドロフォンとが異なる場所
に置かれる方式であり、音源から発せられ水中航走体で
反射した音波（以下、水中航走体の反射波という）と考
えられる信号を、ハイドロフォンに入力された受信信号
から操作員が検出するものである。具体的な処理として
は、ハイドロフォンに入力された受信信号にスレッショ
ルドをかけ、一定以上の振幅レベルの信号のみを出力
し、操作員は、時間対レベルの表示で出力された信号か
ら水中航走体の反射波の判別作業を行うものである。2. Description of the Related Art A bistatic underwater vehicle detection device is a system in which a sound source and a receiving hydrophone are placed in different places, and a sound wave emitted from the sound source and reflected by the underwater vehicle (hereinafter referred to as an underwater vehicle). The operator detects a signal considered to be a reflected wave of the running body) from a received signal input to the hydrophone. As a specific process, a threshold is applied to the received signal input to the hydrophone, and only a signal with an amplitude level equal to or greater than a certain level is output. This is to perform the work of determining the reflected wave of the body.
【０００３】[0003]
【発明が解決しようとする課題】しかしながら、従来の
バイスタティック方式による水中航走体検出装置は、ハ
イドロフォンの受信信号の中から水中航走体の反射波を
判別する作業が、経験の乏しい操作員にとってはワーク
ロードが大きいものであった。すなわち、反射波には海
面や海底での反射波が混在するため、どれが水中航走体
の反射波か見極めるのに操作員の経験と能力を要するか
らである。However, in the conventional underwater vehicle detection apparatus using the bistatic method, the operation of discriminating the reflected wave of the underwater vehicle from the received signal of the hydrophone requires an inexperienced operation. The workload was heavy for the staff. That is, since the reflected waves are mixed with the reflected waves at the sea surface and the seabed, the operator needs experience and ability to determine which is the reflected wave of the underwater vehicle.
【０００４】本発明は上記問題点にかんがみてなされた
ものであり、操作員のワークロードを低減することがで
きるように、水中航走体の反射波を自動的に判別する水
中航走体検出装置の提供を目的とする。SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and has an object to automatically detect reflected waves from an underwater vehicle so as to reduce the workload of an operator. The purpose is to provide the device.
【０００５】なお、バイスタティック方式のレーダーに
関しては特開平−４３２３５号公報及び特開平３−１７
９２８２号公報等で、ソーナーに関しては特開昭６１−
４４３８２号公報等で提案されているが、本発明と同様
の技術のものは存在しなかった。The bistatic radar is disclosed in JP-A-43235 and JP-A-3-17.
No. 9282, etc., the sonar is disclosed in
Although it is proposed in 44442 and the like, there is no technology similar to the present invention.
【０００６】[0006]
【課題を解決するための手段】上記目的を達成するため
に本発明の水中航走体検出装置は、受波器が受信した水
中に置かれた音源から発せられた音の一定レベル以上の
受信信号のみを検出する信号検出部と、音源から音が発
せられた後最初に受信する直接波信号の受信時刻を基準
とし、その後に受信する海面反射波信号、海底反射波信
号及び水中航走体の反射波信号の各々の受信時刻との差
を計測する時間間隔計測部と、海面反射波あるいは海底
反射波の路長から直接波の路長を引いた後音速で割って
海面反射波あるいは海底反射波毎に直接波との仮定の伝
搬時間差を計算する伝搬時間差計算部と、時間間隔計測
部で計測された伝搬時間差と伝搬時間差計算部で計算さ
れた仮定の伝搬時間差を比較し計測値のうち計算値と一
致しない信号が存在することをもって水中航走体の反射
波が存在すると判断する判定部とを有する構成としてあ
る。SUMMARY OF THE INVENTION In order to achieve the above object, an underwater vehicle detection apparatus according to the present invention comprises a receiver for receiving a sound received from a sound source placed in water received by a receiver at a certain level or higher. A signal detector that detects only a signal, and a sea surface reflected wave signal, a seafloor reflected wave signal, and an underwater vehicle based on a reception time of a direct wave signal received first after a sound is emitted from a sound source. A time interval measuring unit that measures the difference between the reception time of each reflected wave signal and the sea surface reflected wave or the sea floor by subtracting the path length of the direct wave from the sea surface reflected wave or the sea floor reflected wave and dividing by the sound velocity A propagation time difference calculation unit that calculates an assumed propagation time difference with a direct wave for each reflected wave, and a comparison between the propagation time difference measured by the time interval measurement unit and the assumed propagation time difference calculated by the propagation time difference calculation unit. Of the signals, It is constituted and a determination unit to determine that the reflected wave of the underwater vehicle is present with that.
【０００７】また、好ましくは、水深、受波器深度、音
源深度及び受波器と音源との水平距離を計算パラメータ
として入力するパラメータ入力部を設け、伝搬時間差計
算部は、このパラメータ入力部から与えられた計算パラ
メータを用いて予測される海面反射波あるいは海底反射
波毎に直接波との仮定の伝搬時間差を計算する構成とし
てある。Preferably, a parameter input unit is provided for inputting a water depth, a receiver depth, a sound source depth, and a horizontal distance between the receiver and the sound source as calculation parameters, and the propagation time difference calculating unit receives the parameter from the parameter input unit. It is configured to calculate the assumed propagation time difference from the direct wave for each sea surface reflected wave or sea bottom reflected wave predicted using given calculation parameters.
【０００８】上記構成からなる本発明の水中航走体検出
装置によれば、海面反射波、海底反射波の経路を想定し
て反射波と直接波との伝搬時間差を算出し、実測の伝搬
時間差と計算した伝搬時間差を比較する。水中航走体か
らの反射波は、海面反射波、海底反射波とは経路が異な
るので海面反射あるいは海底反射を仮定して計算した伝
搬時間差とは一致しない。このことから、水中航走体か
らの反射波の存在を検出することができる。According to the underwater vehicle detection system of the present invention having the above configuration, the propagation time difference between the reflected wave and the direct wave is calculated by assuming the path of the sea surface reflected wave and the sea bottom reflected wave, and the measured propagation time difference is calculated. And the calculated propagation time difference. The reflected wave from the underwater vehicle has a different path from the sea surface reflected wave and the sea bottom reflected wave, and therefore does not match the propagation time difference calculated assuming sea surface reflection or sea bottom reflection. From this, it is possible to detect the presence of a reflected wave from the underwater vehicle.
【０００９】[0009]
【発明の実施の形態】以下、本発明による水中航走体検
出装置の一実施形態を図面を参照して説明する。図１は
水中航走体検出装置のブロック図、図２は音源及びハイ
ドロフォンの配置と伝搬経路を示す概略図、図３は信号
検出部の出力を示す図、図４は音源及びハイドロフォン
の配置のパラメータを示す模式図、図５は計算した伝搬
時間差と計測された信号とを比較した図である。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of an underwater vehicle detection apparatus according to the present invention will be described below with reference to the drawings. 1 is a block diagram of the underwater vehicle detection device, FIG. 2 is a schematic diagram showing the arrangement and propagation path of the sound source and the hydrophone, FIG. 3 is a diagram showing the output of the signal detection unit, and FIG. FIG. 5 is a schematic diagram showing arrangement parameters, and FIG. 5 is a diagram comparing a calculated propagation time difference with a measured signal.
【００１０】図１において、１は信号検出部であり、ハ
イドロフォンの受信信号の振幅レベルにスレッショルド
をかけることにより、音源からの音の直接波、海底や海
面での反射波及び水中航走体の反射波と考えられる一定
レベル以上の受信信号のみを抽出する。２は時間間隔計
測部であり、信号検出部１で抽出された信号の内、先頭
の信号とその他の信号との時間間隔を計測する。３はパ
ラメータ入力部であり、水深、ハイドロフォン深度、音
源深度及びハイドロフォンと音源間との水平距離という
伝搬時間計算パラメータを入力する。In FIG. 1, reference numeral 1 denotes a signal detection unit which applies a threshold to the amplitude level of a received signal of a hydrophone, thereby directly outputting a sound from a sound source, a reflected wave on the sea floor or the sea surface, and an underwater vehicle. Only the received signal having a certain level or higher, which is considered as a reflected wave, is extracted. Reference numeral 2 denotes a time interval measuring unit which measures a time interval between a head signal and other signals among the signals extracted by the signal detecting unit 1. Reference numeral 3 denotes a parameter input unit for inputting propagation time calculation parameters such as water depth, hydrophone depth, sound source depth, and horizontal distance between the hydrophone and the sound source.
【００１１】４は伝搬時間差計算部であり、パラメータ
入力部３から与えられた伝搬時間計算パラメータを用い
て予測される海面反射波あるいは海底反射波毎に直接波
との伝搬時間差を計算する。５は判定部であり、時間間
隔計測部２で計測した伝搬時間差と伝搬時間差計算部４
で計算した仮定の伝搬時間差とを比較し、計測値のうち
計算値と一致しない信号が存在したときに水中航走体の
反射波が存在すると判断する。Reference numeral 4 denotes a propagation time difference calculation unit that calculates a propagation time difference between a direct wave and a predicted sea surface reflected wave or a bottom reflected wave using the propagation time calculation parameter given from the parameter input unit 3. Reference numeral 5 denotes a determination unit, and the propagation time difference measured by the time interval measurement unit 2 and the propagation time difference calculation unit 4
Is compared with the hypothetical propagation time difference calculated in the above, and when there is a signal that does not match the calculated value among the measured values, it is determined that the reflected wave of the underwater vehicle exists.
【００１２】そして、このような水中航走体検出装置
は、図２に示すような音源及びハイドロフォンの配置で
行われる。図２において、６が音源、７が受波器として
のハイドロフォンであり、水中航走体８を検出している
ものである。[0012] Such underwater vehicle detection device is operated with the arrangement of sound sources and hydrophones as shown in FIG. In FIG. 2, reference numeral 6 denotes a sound source, 7 denotes a hydrophone as a receiver, which detects the underwater vehicle 8.
【００１３】次に、動作について説明する。信号検出部
１で検出された信号は、時間間隔計測部２で信号間の時
間差が計測される。図３に示すように、４つの信号Ｓ
１、Ｓ２、Ｓ３、Ｓ４が入力された場合、４つの信号の
各時間差ｄ、ｅ、ｆの値が計測され、計測された各々の
伝搬時間差は判定部５へ送られる。Next, the operation will be described. The time difference between the signals detected by the signal detection unit 1 is measured by the time interval measurement unit 2. As shown in FIG. 3, four signals S
When 1, S2, S3, and S4 are input, the values of the time differences d, e, and f of the four signals are measured, and the measured propagation time differences are sent to the determination unit 5.
【００１４】伝搬時間計算部４では、パラメータ入力部
３から入力された水深、音源及びハイドロフォンの深
度、音源とハイドロフォンとの水平距離を基に、直接波
と各反射波との時間差が次に示す方法により計算され
る。すなわち、海底反射波及び海面反射波については、
海底あるいは海面の反射面を対称面とした鏡像位置に音
源があるとみなして反射経路長を求め、この反射経路長
と直接波の経路長との差を計算し、その経路長差を音速
で割ることにより反射波と直接波との時間差を求める。In the propagation time calculator 4, the time difference between the direct wave and each reflected wave is calculated based on the water depth, sound source and hydrophone depths input from the parameter input unit 3, and the horizontal distance between the sound source and the hydrophone. Is calculated by the method shown in FIG. That is, for the seafloor reflected wave and the sea surface reflected wave,
The reflection path length is calculated assuming that the sound source is located at the mirror image position where the reflection surface of the sea floor or the sea surface is a symmetric surface, the difference between this reflection path length and the path length of the direct wave is calculated, and the difference in the path length is calculated by the sound velocity By dividing, the time difference between the reflected wave and the direct wave is obtained.
【００１５】反射波の反射経路長を水平方向の成分と鉛
直方向の成分とに分解して考えると、水平方向の路長は
音源とハイドロフォンとの水平距離に等しく、鉛直方向
の路長Ｚは反射を考慮して次のように表せる。 Ｚ＝（音源と反射面の間の鉛直方向距離）＋ （ハイドロフォンと反射面の間の鉛直方向距離）＋ （海面及び海底間で繰り返す反射の鉛直方向距離）・・・・・（１）When the reflection path length of the reflected wave is decomposed into a horizontal component and a vertical component, the horizontal path length is equal to the horizontal distance between the sound source and the hydrophone, and the vertical path length Z Can be expressed as follows in consideration of reflection. Z = (vertical distance between sound source and reflecting surface) + (vertical distance between hydrophone and reflecting surface) + (vertical distance of reflection repeated between sea surface and seabed) ... (1)
【００１６】ここで、式（１）において、右辺の第１項
は音源からの音波が海面で反射する場合と、海底で反射
する場合とによって異なり、当該鉛直距離をＺ１ とす
ると、Ｚ１ は図４のパラメータを用いて次のように表
される。 海面で反射する場合 Ｚ１ ＝ｇ・・・・・・・・・・・（２） 海底で反射する場合 Ｚ１ ＝ｊ−ｇ・・・・・・・・・（２）In the equation (1), the first term on the right side differs depending on whether the sound wave from the sound source is reflected on the sea surface or on the sea floor. If the vertical distance is Z1, Z1 is as shown in FIG. It is expressed as follows using the parameters of No.4. When reflected on the sea surface Z1 = g (2) When reflected on the seabed Z1 = j-g (2)
【００１７】式（１）の右辺第２項については当該鉛直
距離をＺ２ とすると、Ｚ２ は同様に次のように表さ
れる。 海面で反射する場合 Ｚ２ ＝ｉ・・・・・・・・・・・（３） 海底で反射する場合 Ｚ２ ＝ｊ−ｉ・・・・・・・・・（３）As for the second term on the right side of the equation (1), if the vertical distance is Z2, Z2 is similarly expressed as follows. When reflected on the sea surface Z2 = i (3) When reflected on the seabed Z2 = ji (3)
【００１８】式（１）の右辺第３項については当該鉛直
距離をＺ３ とすると、ｎ回反射する場合は次のように
表される。 Ｚ３ ＝（ｎ−１）×ｊ・・・・・（４） これらの式（１）〜（４）を用いて鉛直成分の路長Ｚが
計算できる。As for the third term on the right side of the equation (1), when the vertical distance is Z3, when the light is reflected n times, it is expressed as follows. Z3 = (n−1) × j (4) The path length Z of the vertical component can be calculated using these equations (1) to (4).
【００１９】反射波の経路長Ｒは、鉛直成分及び水平成
分のそれぞれの自乗和の平方根であるので、次式で与え
られる。 Ｒ＝（ｈ２＋Ｚ２）１／２・・・・・・（５） 一方、直接波の経路長Ｄは次で与えられる。 Ｄ＝｛ｈ２＋（ｇ−ｉ）２｝１／２・・（６）The path length R of the reflected wave is given by the following equation because it is the square root of the sum of the squares of the vertical component and the horizontal component. R = (h2 + Z2) 1/2 (5) On the other hand, the path length D of the direct wave is given by: D = {h2 + (gi) 2} 1/2 (6)
【００２０】以上より、反射波と直接波の時間差ｔは、
音速をｃとすると、次の式で計算できる。 ｔ＝（Ｒ−Ｄ）／ｃ・・・・・・・（７）From the above, the time difference t between the reflected wave and the direct wave is:
Assuming that the sound speed is c, it can be calculated by the following equation. t = (RD) / c (7)
【００２１】伝搬時間差計算部４では、前記式（１）〜
（７）を用いて、想定される海面及び海底反射波に対す
る伝搬時間差を算出する。すなわち、反射回数の少ない
順に、次のように反射波が想定される。 ・１回の海面反射（ｎ＝１） ・１回の海底反射（ｎ＝１） ・１回の海面反射及び１回の海底反射（ｎ＝２） ・１回の海面反射及び２回の海底反射（ｎ＝３） ・２回の海面反射及び１回の海底反射（ｎ＝３） ・２回の海面反射及び２回の海底反射（ｎ＝４） ・ ・・・ ・ｍ回の海面反射及びｍ回の海底反射（ｎ＝ｍ）In the propagation time difference calculator 4, the above equations (1) to
Using (7), a propagation time difference with respect to the assumed sea surface and sea bottom reflected waves is calculated. That is, reflected waves are assumed in the following order in ascending order of the number of reflections. • One sea surface reflection (n = 1) • One sea bottom reflection (n = 1) • One sea surface reflection and one sea bottom reflection (n = 2) • One sea surface reflection and two sea bottom reflections Reflection (n = 3) ・ Two sea surface reflections and one sea bottom reflection (n = 3) ・ Two sea surface reflections and two sea bottom reflections (n = 4) ・ ・ ・ ・ ・ m sea surface reflections And m submarine reflections (n = m)
【００２２】ここで、何回の反射まで考慮するかは、音
源の音の大きさや海底での反射の際の減衰に対応して予
め決めておく。ｎ＝１の場合からｎの最大値まで式
（１）〜（７）にしたがってそれぞれの反射波に対応す
る伝搬時間差を計算する。計算された伝搬時間差は判定
部５に送られる。Here, the number of reflections to be considered is determined in advance in accordance with the loudness of the sound of the sound source and the attenuation at the time of reflection on the sea floor. From the case of n = 1 to the maximum value of n, the propagation time difference corresponding to each reflected wave is calculated according to the equations (1) to (7). The calculated propagation time difference is sent to the determination unit 5.
【００２３】判定部５では、時間間隔計測部２から送ら
れた実際の伝搬時間差と、伝搬時間差計算部４で計算さ
れた仮定の伝搬時間差とを比較する。この比較の手順を
図５を参照して説明する。The determination unit 5 compares the actual propagation time difference sent from the time interval measurement unit 2 with the assumed propagation time difference calculated by the propagation time difference calculation unit 4. The procedure of this comparison will be described with reference to FIG.
【００２４】図５において、横軸は直接波を基準とした
伝搬時間差、縦軸は信号検出部１で検出された実際の計
測信号のレベルを示しており、今、直接波以外ではＳ
１、Ｓ２、Ｓ３の信号が検出されている。図中ア、イは
伝搬時間差計算部４で計算された伝搬時間を示す。In FIG. 5, the horizontal axis represents the propagation time difference with reference to the direct wave, and the vertical axis represents the level of the actual measurement signal detected by the signal detection unit 1.
1, S2 and S3 signals are detected. In the figure, a and b indicate the propagation times calculated by the propagation time difference calculation unit 4.
【００２５】ここで、Ｓ１、Ｓ３を海底あるいは海面で
の反射波、Ｓ２を水中航走体の反射波とすると、Ｓ１及
びＳ３の実測した信号波は海底あるいは海面での反射で
あるので、計算した伝搬時間差と許容誤差範囲の中で一
致するが、水中航走体の反射波は計算されていないの
で、Ｓ２と一致する計算伝搬時間差が無い。このよう
に、計算された伝搬時間差と計測された伝搬時間差で一
致しないものがあれば、水中航走体の反射波であると判
定できる。判定部５は、このように判定を行い、その結
果を操作員に表示する。Here, assuming that S1 and S3 are reflected waves at the sea floor or the sea surface and S2 is a reflected wave of the underwater vehicle, the measured signal waves at S1 and S3 are reflections at the sea floor or the sea surface. However, since the reflected wave of the underwater vehicle is not calculated, there is no calculated propagation time difference that matches S2. As described above, if there is a mismatch between the calculated propagation time difference and the measured propagation time difference, it can be determined that the reflected wave is an underwater vehicle. The determination unit 5 makes a determination in this way and displays the result to the operator.
【００２６】[0026]
【発明の効果】以上説明したように本発明の水中航走体
検出装置では、伝搬経路を考慮して、海面あるいは海底
での反射波に該当しない信号、すなわち水中航走体の反
射波を自動的に判定するので、経験の乏しい操作員で
も、水中航走体の存在を容易に検出することができる。As described above, in the underwater vehicle detection apparatus of the present invention, a signal which does not correspond to a reflected wave at the sea surface or the sea bottom, that is, a reflected wave of the underwater vehicle is automatically taken into account in consideration of the propagation path. Therefore, even an inexperienced operator can easily detect the presence of the underwater vehicle.
【図１】本発明の水中航走体検出装置のブロック図を示
す。FIG. 1 shows a block diagram of an underwater vehicle detection device of the present invention.
【図２】本発明の水中航走体検出装置における音源及び
ハイドロフォンの配置と伝搬経路の概略図を示す。FIG. 2 is a schematic diagram showing the arrangement of sound sources and hydrophones and the propagation path in the underwater vehicle detection device of the present invention.
【図３】本発明の水中航走体検出装置の信号検出部の出
力の図を示す。FIG. 3 shows an output diagram of a signal detection unit of the underwater vehicle detection device of the present invention.
【図４】本発明の水中航走体検出装置における音源及び
ハイドロフォンの配置のパラメータを示す模式図を示
す。FIG. 4 is a schematic diagram showing parameters of an arrangement of a sound source and a hydrophone in the underwater vehicle detection device of the present invention.
【図５】本発明波水中航走体検出装置において計算した
伝搬時間差と計測された信号とを比較した図を示す。FIG. 5 is a diagram showing a comparison between a propagation time difference calculated by the wave underwater vehicle detection device of the present invention and a measured signal.
１ 信号検出部 ２ 時間間隔計測部 ３ パラメータ入力部 ４ 伝搬時間差計算部 ５ 判定部 ６ 音源 ７ ハイドロフォン DESCRIPTION OF SYMBOLS 1 Signal detection part 2 Time interval measurement part 3 Parameter input part 4 Propagation time difference calculation part 5 Judgment part 6 Sound source 7 Hydrophone
フロントページの続き (58)調査した分野(Int.Cl.6，ＤＢ名) G01S 7/54 G01S 15/04 - 15/46 G01S 13/46Continuation of the front page (58) Field surveyed (Int.Cl. 6 , DB name) G01S 7/54 G01S 15/04-15/46 G01S 13/46
Claims (2)
が受信した音のうち一定レベル以上の受信信号のみを検
出する信号検出部と、 音源から音が発せられた後最初に受信する直接波信号の
受信時刻を基準とし、その後に受信する海面反射波信
号、海底反射波信号及び水中航走体の反射波信号の各々
の受信時刻との差を計測する時間間隔計測部と、 海面反射波あるいは海底反射波の路長から直接波の路長
を引いた後、音速で割って海面反射波あるいは海底反射
波毎に直接波との仮定の伝搬時間差を計算する伝搬時間
差計算部と、 時間間隔計測部で計測された伝搬時間差と伝搬時間差計
算部で計算された仮定の伝搬時間差を比較し、計測値の
うち計算値と一致しない信号が存在することをもって水
中航走体の反射波が存在すると判断する判定部とを有す
ることを特徴とする水中航走体検出装置。1. A signal detection unit for detecting only a reception signal having a certain level or higher among sounds received from a sound source placed in water and received by a receiver, and receiving first after the sound is emitted from the sound source. A time interval measuring unit for measuring a difference between the reception time of the sea surface reflected wave signal, the sea bottom reflected wave signal, and the reflected wave signal of the underwater vehicle, based on the reception time of the direct wave signal, After subtracting the path length of the direct wave from the path length of the reflected wave or sea bottom reflected wave, divided by the speed of sound to calculate the assumed propagation time difference with the direct wave for each sea surface reflected wave or sea bottom reflected wave, a propagation time difference calculation unit, The propagation time difference measured by the time interval measurement unit is compared with the assumed propagation time difference calculated by the propagation time difference calculation unit, and the reflected wave of the underwater vehicle is determined by the presence of a signal that does not match the calculated value among the measured values. Judgment unit that judges that it exists And an underwater vehicle detection device.
と音源との水平距離を計算パラメータとして入力するパ
ラメータ入力部を設け、伝搬時間差計算部は、このパラ
メータ入力部から与えられた計算パラメータを用いて海
面反射波あるいは海底反射波毎に直接波との仮定の伝搬
時間差を計算する請求項１記載の水中航走体検出装置。2. A parameter input unit for inputting, as calculation parameters, a water depth, a receiver depth, a sound source depth, and a horizontal distance between the receiver and a sound source, and a propagation time difference calculation unit is provided from the parameter input unit. 2. The underwater vehicle detection device according to claim 1, wherein an assumed propagation time difference from a direct wave is calculated for each sea surface reflected wave or sea bottom reflected wave using the calculation parameter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7288996A JP2780698B2 (en) | 1996-03-27 | 1996-03-27 | Underwater vehicle detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7288996A JP2780698B2 (en) | 1996-03-27 | 1996-03-27 | Underwater vehicle detection device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH09264948A JPH09264948A (en) | 1997-10-07 |
| JP2780698B2 true JP2780698B2 (en) | 1998-07-30 |
Family
ID=13502372
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP7288996A Expired - Lifetime JP2780698B2 (en) | 1996-03-27 | 1996-03-27 | Underwater vehicle detection device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2780698B2 (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3573090B2 (en) * | 2000-12-05 | 2004-10-06 | 日本電気株式会社 | Underwater target position detecting device and method |
| EP1692542A4 (en) * | 2003-09-29 | 2011-03-30 | Ac Capital Man Inc | Sonar system and process |
| WO2006080120A1 (en) * | 2005-01-28 | 2006-08-03 | Matsushita Electric Industrial Co., Ltd. | Tracking system and self-traveling body |
| US20140254308A1 (en) * | 2012-12-17 | 2014-09-11 | Westerngeco L.L.C. | Identifying reflection acoustic signals |
| JP6922262B2 (en) * | 2017-03-03 | 2021-08-18 | 日本電気株式会社 | Sonar image processing device, sonar image processing method and sonar image processing program |
| CN112083427B (en) * | 2020-09-14 | 2023-09-19 | 哈尔滨工程大学 | Ranging method for unmanned underwater vehicle under ice |
| CN112184796A (en) * | 2020-09-23 | 2021-01-05 | 泰州市金海运船用设备有限责任公司 | Sea surface oil stain area real-time monitoring and calculating system based on signal transmission |
-
1996
- 1996-03-27 JP JP7288996A patent/JP2780698B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH09264948A (en) | 1997-10-07 |
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