JPH0381682A - Mobile underwater target tracking device - Google Patents
Mobile underwater target tracking deviceInfo
- Publication number
- JPH0381682A JPH0381682A JP21602689A JP21602689A JPH0381682A JP H0381682 A JPH0381682 A JP H0381682A JP 21602689 A JP21602689 A JP 21602689A JP 21602689 A JP21602689 A JP 21602689A JP H0381682 A JPH0381682 A JP H0381682A
- Authority
- JP
- Japan
- Prior art keywords
- target
- underwater
- attitude
- acoustic
- acoustic 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.)
- Pending
Links
- 238000007405 data analysis Methods 0.000 claims description 16
- 238000005259 measurement Methods 0.000 abstract description 21
- 238000003491 array Methods 0.000 abstract description 7
- 238000012360 testing method Methods 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000003763 carbonization Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 239000003643 water by type Substances 0.000 description 1
Landscapes
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は潜水艇及び各種水中航走体のテストレンジで使
用される移動式水中目標追跡装置に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a mobile underwater target tracking device used in test ranges for submersibles and various underwater vehicles.
従来の水中目標追跡装置は、第３図に示すように海底に
固定されたハイドロホンアレイｊ２と陸上に設置された
データ解析所１斗より構成され、目標ｌが発する音響信
号を海底に固定された複数個のハイドロホンアレイ１２
が受信し、これをケーブルで結ばれた陸上のデータ解析
所１４にて解析し、目標の水中航走体ｌの追跡を行って
ぃた。As shown in Figure 3, a conventional underwater target tracking device consists of a hydrophone array J2 fixed on the seabed and a data analysis station 10 installed on land, and the acoustic signal emitted by the target L is transmitted to the hydrophone array J2 fixed on the seabed. multiple hydrophone arrays 12
The data was received by the onshore data analysis station 14 connected by a cable and analyzed to track the target underwater vehicle.
従来の水中目標追跡装置においては、ハイドロホンアレ
イを海底に設置し、ハイドロホンアレイで受信した信号
をケーブルで陸上にあるデータ解析所に送信し、水中に
ある目標を追跡していた。このため水中目標追跡装置の
設置場所は陸に近い必［Ｉがあり、またハイドロホンア
レイの設置技術上の問題から比較的浅い海域に限られて
いた。近午潜水艇及び水中航走体の深々炭化により、大
深度での試験、評価の必要性が生じているが、我国では
恒久的な水中目積追跡装置を設置する場所に恵まれてい
ない等の課題がある。Conventional underwater target tracking devices track underwater targets by installing a hydrophone array on the ocean floor and transmitting the signals received by the hydrophone array via cable to a data analysis facility on land. For this reason, underwater target tracking devices had to be installed close to land, and due to technical problems installing hydrophone arrays, they were limited to relatively shallow waters. Due to the deep carbonization of submarines and underwater vehicles, there is a need for testing and evaluation at great depths. There are challenges.
本発明は上記の課題を解決しようとするものである。The present invention seeks to solve the above problems.
本発明の移動式水中目標追跡装置は、海上に配置され水
中目標物が発信する音響信号を受信するハイドロホンア
レイと同ハイドロホンアレイの姿勢及び方位を計測する
姿勢計及び方位計と自己の位置を計測する測位装置とそ
れぞれの装置が出力する信号を電波により送信する送信
機がそれぞれ設けられた複数隻の計測船、および同計測
船の送信機が送信した信号を受信する受信機と同受信機
が出力した信号を入力し目標物の位置を演算する演算処
理装置が設けられた移動データ解析部よりなることを特
徴としている。The mobile underwater target tracking device of the present invention includes a hydrophone array that is placed on the sea and receives acoustic signals transmitted by underwater targets, an attitude meter and a direction meter that measure the attitude and direction of the hydrophone array, and a self-positioning device. A plurality of measurement ships each equipped with a positioning device that measures the positioning device and a transmitter that transmits the signal output by each device using radio waves, and a receiver that receives the signal transmitted by the transmitter of the measurement ship. It is characterized by comprising a movement data analysis section equipped with an arithmetic processing device that receives signals output from the machine and calculates the position of the target object.
上記において、水中目標物が発信する音響信号は、それ
ぞれの計測船に設けられたハイドロホンアレイにより受
信される。同それぞれのハイドロホンアレイが受信した
音響信号は、姿勢計及び方位計が計測したハイドロホン
アレイの姿勢及び方位信号と、測位装置が計測した計測
船の位置信号と共にそれぞれの送信機より送信され、移
動データ解析部の受信機により受信される。In the above, acoustic signals emitted by underwater targets are received by hydrophone arrays provided on each measurement vessel. The acoustic signals received by each hydrophone array are transmitted from each transmitter together with the attitude and direction signals of the hydrophone array measured by the attitude meter and direction meter, and the position signal of the measuring vessel measured by the positioning device, It is received by the receiver of the movement data analysis section.
上記移動データ解析部の受信機はそれぞれの計測船より
受信したそれぞれの信号を演算処理装置へ送り、同演算
処理装置は水中目標物の位置を演算する。同水中目標物
の位置の演算は時々刻々行われ、水中目標物の追跡が行
われる。The receiver of the movement data analysis section sends each signal received from each measurement vessel to a processing unit, and the processing unit calculates the position of the underwater target. The position of the underwater target is calculated every moment, and the underwater target is tracked.
上記により、ハイドロホンアレイは計測船により移動さ
れ、任意の位置に設置できるため、水中を航走する水中
目標物の任意の海域における任意の水深での試験、評価
が可能となった。As a result of the above, the hydrophone array can be moved by a measurement vessel and installed at any position, making it possible to test and evaluate underwater targets in any sea area and at any water depth.
本発明の一実施倒を第１図に示す。 One embodiment of the present invention is shown in FIG.
第１図に示す本実施例は、水中航走体ｌに設り−られた
音響発信器が発信する音響信号を受信するハイドロホン
アレイ２、それぞれ同ハイドロホンアレイ２を海中に吊
下し海上に配置され上記ハイドロホンアレイ２が受信し
た音響信号と同ハイドロホンアレイ２の姿勢及び方位信
号と自己の位置信号を電波により送信する複数隻の計測
船３、および同計測船３が送信する信号を受信し海上に
配置されたデータ解析船４よりなっており、上記計測船
３には第２図に示すようにハイドロホンアレイ′２より
ｔ＊倍信号入力して増幅する音響増幅器と、ハイドロホ
ンアレイ２の姿勢及び方位を計測する姿勢計及び方位計
と、衛星５より測位信号を受信し自己の位置を計測する
測位装置と、それぞれの装置が出力した信号を送信する
送信機が設けられており、また上記データ解析船４には
第２図に示すように上記計測船３より送信された信号を
受信する受信機と同受信機が出力した信号をフィルタ及
び増幅器を介して入力する演算処理装置と同演算処理装
置に接続された表示装置と作図装置と記録装置と印字装
置が設けられている。The present embodiment shown in FIG. 1 includes a hydrophone array 2 that receives acoustic signals transmitted from an acoustic transmitter installed in an underwater vehicle 1, and a hydrophone array 2 that is suspended in the sea. A plurality of measurement vessels 3 transmitting acoustic signals received by the hydrophone array 2, attitude and azimuth signals of the hydrophone array 2, and own position signals by radio waves, and signals transmitted by the measurement vessels 3. The measurement ship 3 is equipped with an acoustic amplifier that inputs and amplifies a t* signal from the hydrophone array '2, as shown in Figure 2, and a data analysis ship 4 placed on the sea. An attitude meter and a direction meter that measure the attitude and direction of the phone array 2, a positioning device that receives positioning signals from the satellite 5 and measures its own position, and a transmitter that transmits the signals output from each device are provided. Furthermore, as shown in FIG. 2, the data analysis vessel 4 has a receiver that receives the signal transmitted from the measurement vessel 3, and a calculation unit that inputs the signal output from the receiver via a filter and an amplifier. A processing device and a display device, a drawing device, a recording device, and a printing device connected to the arithmetic processing device are provided.
上記において、目標物である水中航走体ｌに設けられた
音響発信器が発信した音響信号は、計測船３に投げられ
たハイドロホンアレイ２が受信する。同ハイドロホンア
レイ２が受信した音響信号は音響増巾器で増巾され、送
信機より電波でデータ解析船３に送信される。このとき
、方位針及び姿勢計で計測したハイドロホンアレイの方
位及び姿勢と、測位装置で計測した自己の位置を同時に
送信する。データ解析船４は受信機により複数の計測船
３から送信された信号を受信し、フィルターを通して目
標の音響信号を抽出し、増巾器を通した後演算処理装置
へ入力する。同演算処理装置は、計測船の位置とハイド
ロホンアレイの方位及び姿勢と各計測船が音響信号を受
信した時間差より目標の位置を算出し、そのデータを表
示装置に表示し、作図装置により紙面上に目椋物の位置
をプロットし、記録装置の磁気ディスク、テープ等に記
録し、印字装置によりデータをプリントする。これを時
々刻々行うことで目標を追跡する。In the above, the acoustic signal transmitted by the acoustic transmitter provided on the underwater vehicle l, which is the target object, is received by the hydrophone array 2 thrown at the measurement ship 3. The acoustic signal received by the hydrophone array 2 is amplified by an acoustic amplifier, and then transmitted to the data analysis ship 3 by radio waves from a transmitter. At this time, the direction and attitude of the hydrophone array measured by the compass needle and attitude meter, and the own position measured by the positioning device are simultaneously transmitted. The data analysis vessel 4 receives signals transmitted from the plurality of measurement vessels 3 using a receiver, extracts a target acoustic signal through a filter, passes it through an amplifier, and then inputs it to an arithmetic processing unit. The arithmetic processing unit calculates the target position from the position of the measurement vessel, the direction and attitude of the hydrophone array, and the time difference between when each measurement vessel receives the acoustic signal, displays the data on the display device, and uses the plotting device to print the target position. The position of the eyepiece is plotted on the top, recorded on a magnetic disk, tape, etc. of a recording device, and the data is printed by a printing device. Track your goals by doing this from time to time.
上記目標物である水中航走体１は、それぞれが発信する
音響信号の周波数等を変えることにより追跡目標数を複
数個とすることも可能である。The underwater vehicle 1, which is the target object, can track a plurality of targets by changing the frequency of the acoustic signal that each of them transmits.
上記により、ハイドロホンアレイは計測船により移動さ
れ、任意の位置に設置できるため、任意の海域における
任意の水深での水中航走体の試験、評価が可能となった
。As a result of the above, the hydrophone array can be moved by a measurement vessel and installed at any location, making it possible to test and evaluate underwater vehicles at any depth in any sea area.
なお、本実施例においては、計測船３は吊下式のハイド
ロホンアレイ２を有しているが、船底固定式のハイドロ
ホンアレイとしてもよい。In this embodiment, the measurement vessel 3 has a hanging type hydrophone array 2, but it may also be a hydrophone array fixed to the bottom of the ship.
上記計測船３は有人でも無人でもよいが、実施にあたっ
てはデータ解析船４に搭載可能な小型の無人船が適して
いると考える。また、本実飾物では、データ解析機能を
データ解析船４にもたせたが、陸地に近い場合は車載式
としてもよい、更に、計測船３の測位を衛星５によるも
のとしたが、試験海域が陸地に近ければ陸上の電波局を
用いてもよい。The measurement vessel 3 may be manned or unmanned, but a small unmanned vessel that can be mounted on the data analysis vessel 4 is considered suitable for implementation. In addition, in this demonstration, the data analysis function was provided on the data analysis ship 4, but if it is close to land, it may be mounted on a vehicle.Furthermore, the positioning of the measurement ship 3 was determined by the satellite 5, but the test area was If it is close to land, a land-based radio station may be used.
本発明の移動式水中目標追跡装置は、海上に複数隻の計
測船を配置し、それぞれの計測船が水中目標物より発信
された音響信号をハイドロホンアレイにより受信し、同
音響信号と共に上記ハイドロホンアレイの姿勢及び方位
信号と自己の位置信号を電波により送信し、データ解析
船が上記それぞれの信号を受信して演算処理装置により
水中目標物の位置を演算することによって、ハイドロホ
ンアレイは任意の位置に設置できるため、水中を航走す
る水中目標物の任意の海域における任意の水深での試験
、評価が可能とたった。The mobile underwater target tracking device of the present invention has a plurality of measurement vessels placed on the sea, each measurement vessel receives an acoustic signal emitted from an underwater target using a hydrophone array, and receives the acoustic signal along with the above hydrophone. The hydrophone array transmits the attitude and orientation signals of the phone array and its own position signal via radio waves, and the data analysis vessel receives each of the above signals and calculates the position of the underwater target using the arithmetic processing unit. This makes it possible to test and evaluate underwater targets in any sea area and at any water depth.
第１図は本発明の一実施例の説明図、第２図は上記一実
施例を構成する装置のブロックダイヤプラム、第３図は
従来の装置の説明図である。
１・−水中航走体、 ２−・ノ・イドロホンアレイ
、３−・・計測船、 ４−・データ解析船、５−
衛星。FIG. 1 is an explanatory diagram of an embodiment of the present invention, FIG. 2 is a block diagram of a device constituting the above embodiment, and FIG. 3 is an explanatory diagram of a conventional device. 1.- Underwater vehicle, 2-. Hydrophone array, 3-. Measurement ship, 4-. Data analysis ship, 5-
satellite.
Claims (1)
るハイドロホンアレイと同ハイドロホンアレイの姿勢及
び方位を計測する姿勢計及び方位計と自己の位置を計測
する測位装置とそれぞれの装置が出力する信号を電波に
より送信する送信機が設けられた計測船、および同計測
船の送信機が送信した信号を受信する受信機と同受信機
が出力した信号を入力し目標物の位置を演算する演算処
理装置が設けられた移動データ解析部よりなることを特
徴とする移動式水中目標追跡装置。A hydrophone array placed on the sea that receives acoustic signals emitted by underwater targets, an attitude meter and direction meter that measure the attitude and direction of the hydrophone array, a positioning device that measures its own position, and the outputs of each device. A measuring ship equipped with a transmitter that transmits signals by radio waves, a receiver that receives the signals transmitted by the transmitter of the measuring ship, and a receiver that inputs the signal output from the receiver and calculates the position of the target object. A mobile underwater target tracking device comprising a movement data analysis section equipped with an arithmetic processing unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21602689A JPH0381682A (en) | 1989-08-24 | 1989-08-24 | Mobile underwater target tracking device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP21602689A JPH0381682A (en) | 1989-08-24 | 1989-08-24 | Mobile underwater target tracking device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0381682A true JPH0381682A (en) | 1991-04-08 |
Family
ID=16682133
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP21602689A Pending JPH0381682A (en) | 1989-08-24 | 1989-08-24 | Mobile underwater target tracking device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0381682A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100969878B1 (en) * | 2009-07-28 | 2010-07-13 | 엘아이지넥스원 주식회사 | The real-time tracking system of underwater projectile and the method thereof |
| JP2015523258A (en) * | 2012-05-18 | 2015-08-13 | キング アブドラ ユニバーシティ オブ サイエンス アンド テクノロジー | Satellite and acoustic tracking device |
| JP2019124513A (en) * | 2018-01-15 | 2019-07-25 | パイオニア株式会社 | Specifying device |
-
1989
- 1989-08-24 JP JP21602689A patent/JPH0381682A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100969878B1 (en) * | 2009-07-28 | 2010-07-13 | 엘아이지넥스원 주식회사 | The real-time tracking system of underwater projectile and the method thereof |
| JP2015523258A (en) * | 2012-05-18 | 2015-08-13 | キング アブドラ ユニバーシティ オブ サイエンス アンド テクノロジー | Satellite and acoustic tracking device |
| JP2019124513A (en) * | 2018-01-15 | 2019-07-25 | パイオニア株式会社 | Specifying device |
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