WO2016068821A1 - Smart buoy which can carry out platform determination and recognition and a determination and recognition method using said buoy - Google Patents
Smart buoy which can carry out platform determination and recognition and a determination and recognition method using said buoy Download PDFInfo
- Publication number
- WO2016068821A1 WO2016068821A1 PCT/TR2015/050144 TR2015050144W WO2016068821A1 WO 2016068821 A1 WO2016068821 A1 WO 2016068821A1 TR 2015050144 W TR2015050144 W TR 2015050144W WO 2016068821 A1 WO2016068821 A1 WO 2016068821A1
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- Prior art keywords
- buoy
- data
- determination
- signal processing
- processing unit
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
- G01V1/001—Acoustic presence detection
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/80—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using ultrasonic, sonic or infrasonic waves
- G01S3/802—Systems for determining direction or deviation from predetermined direction
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/28—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
- G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/004—Mounting transducers, e.g. provided with mechanical moving or orienting device
- G10K11/006—Transducer mounting in underwater equipment, e.g. sonobuoys
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B22/00—Buoys
- B63B2022/006—Buoys specially adapted for measuring or watch purposes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B2211/00—Applications
- B63B2211/02—Oceanography
Definitions
- the invention subject to the application is related with a smart buoy and the determination and recognition method where said buoy is used, wherein said buoy can carry out the determination and recognition of under water and surface platforms (submarines, ships etc) automatically during security/defence application and underwater oceanographic observations/research by means of the sensors, signal processing hardware and software it possesses and can transmit the processed data (type, class, bearing, speed etc.) related to the determined platform to the observation station via a wireless communication protocol.
- under water and surface platforms submarines, ships etc
- underwater oceanographic observations/research by means of the sensors, signal processing hardware and software it possesses and can transmit the processed data (type, class, bearing, speed etc.) related to the determined platform to the observation station via a wireless communication protocol.
- the noise arising from machinery and propellers that emanate under water from the platforms can be sensed by acoustic sensors of sonobuoys and the direction (bearing) of the surface or underwater platforms that produce the said noise can be determined by means of acoustic sensors.
- the platform types such as frigate, submarine, tanker,assault boats etc.
- the signal parameters of machinery and propellers can be classified by analysing and evaluating the signal parameters of machinery and propellers.
- continuous RF broadcasting increases the power consumption and this leads to short life of batteries located on the sonobuoy. Continuous RF broadcasting also may help the enemies or threat risks, in determining the presence and/or the location of the sonobuoys. Besides, the observation station where the raw data are sent must be equipped with the huge equipments having high processing capacity.
- the measurement buoys in underwater oceanographic observation/research applications are the most commonly used devices in the known state of the art. However the launching and retrieval procedures of these buoys necessitate lots of workforce as said buoys are large in size and as they are very heavy. The measurement buoys stay fixed once they are launched into water and they submit the measured oceanographic and meteorological raw data which are collected by their sensors, to a close shore station. .
- the platform noises are determined by means of a smart buoy comprising a signal processing unit that is embedded such that it is integrated to the hydrophones positioned on different points on the body of said buoy and these noises are processed via a signal processing unit and the platforms which emit underwater noise within the range depending on environmental conditions are processed by means of the signal processing unit located inside the buoys and following signal analysis the type classification of the contact is obtained.
- the bearing information of the target platform in relation to the buoy can also be determined by using directional hydrophones and electronic motion compensation compass.
- the classification information that have been analysed by means of analysis parameters are also transmitted to the DSH observation station by means of a wireless communication protocol.
- the weight and the sizes of the receiving unit, display unit and the signal processing unit hardware that are required to be a part of the DSH observation station can be significantly reduced.
- Oceanographic data such as sound speed, temperature, wave height, around the environment where the buoy is located can be collected by means of the smart buoy and the determination/recognition method subject to the invention and the information obtained can be transferred to shore stations.
- Figure 2 - Is the block diagram of the determination and recognition method The definitions of the aspects/sections/parts forming the Invention
- Awaterproof box submerged into water comprising a carrier unit (1 ) which carries the hydrophones and signal processing unit,
- a signal processing unit (2) which collects and processes acoustic data and other sensor data
- An electronic compass (3) which measures the lateral angle of the magnetic north relative to the hydrophones and submits it to the signal processing unit
- ⁇ A recording unit (4) which records the data obtained by the signal processing unit
- a fixing anchor (7) which has a fixing point in order for the buoy to be used as an anchored structure
- a power distribution unit (9) which distributes the battery energy to the electronic units
- a top unit (10) which is an impermeable chamber comprising the electronic units that are not present inside the carrier unit but are used by the system and are located on the body of the buoy,
- a manual mode selection key (15) which can select different operation modes such as sending the unprocessed or the processed data,
- a maintenance port (17) having a connection point which connects the buoy to a computer in order to configure and program the buoy and download the recorded data
- the data received from the hydrophones (19) are processed in two different ways on the signal processing unit (2) according to the determination and recognition method used by the smart buoy subject to the invention ( Figure 2).
- the data received from different sensors are subjected to equal gain combining procedure.
- the data received from each sensor is processed on the signal processing unit (2).
- First of all the data received from each sensor is multiplied by the same coefficient and a single signal is obtained.
- the signal obtained is subjected to acoustic analysis; DEMON (Detection of Envelope Modulation on Noise) analysis for the analysis of propeller information, and LOFAR (Low Frequency Analysis and Ranging) analysis for the analysis of machinery parameters are carried out.
- DEMON Detection of Envelope Modulation on Noise
- LOFAR Low Frequency Analysis and Ranging
- the signal processing unit (2) performs the following;
- the data received from the sensors are used in order to calculate the angle (bearing) that are in contact with the signal processing unit (2).
- the determination that is obtained, the classification and bearing information are transferred to the platforms by means of a communication unit (1 1 ).
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Acoustics & Sound (AREA)
- Life Sciences & Earth Sciences (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Environmental & Geological Engineering (AREA)
- Geology (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geophysics (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention subject to the application is related with a smart buoy and the determination and recognition method where said buoy is used, wherein said buoy can carry out the determination and recognition of under water and surface platforms (submarines, ships etc) during security/defence application and underwater oceanographic observations/research automatically by means of the sensors, signal processing hardware and software it possesses and can transmit the processed data (type, class, bearing, speed etc.) related to the determined platform to the observation station via a wireless communication protocol.
Description
SMART BUOY WHICH CAN CARRY OUT PLATFORM DETERMINATION AND RECOGNITION AND A DETERMINATION AND RECOGNITION METHOD USING
SAID BUOY
DESCRIPTION
Technical Field related to the Invention
The invention subject to the application is related with a smart buoy and the determination and recognition method where said buoy is used, wherein said buoy can carry out the determination and recognition of under water and surface platforms (submarines, ships etc) automatically during security/defence application and underwater oceanographic observations/research by means of the sensors, signal processing hardware and software it possesses and can transmit the processed data (type, class, bearing, speed etc.) related to the determined platform to the observation station via a wireless communication protocol.
Known State of the art related to the Invention (Prior Art)
The determination and recognition of under water and surface platforms in security/defence applications in the known state of the art are carried out by means of expendable sensors known as "sonobuoy (sonoboy)".
The noise arising from machinery and propellers that emanate under water from the platforms can be sensed by acoustic sensors of sonobuoys and the direction (bearing) of the surface or underwater platforms that produce the said noise can be determined by means of acoustic sensors. In addition to this, the platform types (such as frigate, submarine, tanker,assault boats etc.) can be classified by analysing and evaluating the signal parameters of machinery and propellers.
However, these procedures are not carried out by sonobuoys themself. After the deployment of sonobuoys from Antisubmarine Warfare (DSH) elements such as frigates, helicopters and sea patrol planes, the raw data sensed by the passive acoustic sensors (hydrophones) of the sonobuoy is sent to the signal processing receiver located in the DSH observation station via modulated analogue wireless radio frequency (RF) broadcasting without any signal processing methods. All of the signal processing, determination, signal analysis and classification processes are carried out by DSH operators using the receiver processing unit located at the DSH observation
station. This application causes an excessive amount of data transmission between the observation station and the sonobuoy and also waste of time for the target detection. Moreover, continuous RF broadcasting increases the power consumption and this leads to short life of batteries located on the sonobuoy. Continuous RF broadcasting also may help the enemies or threat risks, in determining the presence and/or the location of the sonobuoys. Besides, the observation station where the raw data are sent must be equipped with the huge equipments having high processing capacity.
The measurement buoys in underwater oceanographic observation/research applications are the most commonly used devices in the known state of the art. However the launching and retrieval procedures of these buoys necessitate lots of workforce as said buoys are large in size and as they are very heavy. The measurement buoys stay fixed once they are launched into water and they submit the measured oceanographic and meteorological raw data which are collected by their sensors, to a close shore station. .
The inventions subject to the documents numbered US3870989A, CA1228665A1 , US4673363A, JPH0266481 A and US5224074A can be shown as examples to sonobuoy systems that are widely used in the known state of the art and the art described above.
Brief description of the invention and its aims
According to the determination and recognition method where the smart buoy developed by means of this invention, the platform noises are determined by means of a smart buoy comprising a signal processing unit that is embedded such that it is integrated to the hydrophones positioned on different points on the body of said buoy and these noises are processed via a signal processing unit and the platforms which emit underwater noise within the range depending on environmental conditions are processed by means of the signal processing unit located inside the buoys and following signal analysis the type classification of the contact is obtained. However the bearing information of the target platform in relation to the buoy can also be determined by using directional hydrophones and electronic motion compensation compass. The classification information that have been analysed by means of analysis parameters are also transmitted to the DSH observation station by means of a wireless communication protocol.
By means of the application subject to the invention, platform determination, signal analysis and classification processes can be carried out independent from the operator and as a result the data/information amount to be transmitted to the DSH observation station and the transmit time can be kept at a minimum.
By means of this advantage, the weight and the sizes of the receiving unit, display unit and the signal processing unit hardware that are required to be a part of the DSH observation station can be significantly reduced.
Oceanographic data such as sound speed, temperature, wave height, around the environment where the buoy is located can be collected by means of the smart buoy and the determination/recognition method subject to the invention and the information obtained can be transferred to shore stations.
In addition to this, the passage of commerce ships at the entrances of ports harbours/bays can be observed by means of the smart buoy and the determination/recognition method subject to the invention and information related to commerce ships can be submitted to the ports (security and/or commercial observation supervision units)
Definitions of the figures describing the Invention
The figures that have been prepared in order to be able to further describe the smart buoy which can determine and recognize platforms developed according to the invention and the determination and recognition method used by said buoy have been explained below:
Figure 1 - Is the system configuration view of the smart buoy
Figure 2 - Is the block diagram of the determination and recognition method The definitions of the aspects/sections/parts forming the Invention
The parts/sections/ aspects that are shown in the figures that have been prepared in order to be able to further describe the smart buoy which can determine and recognize platforms developed according to the invention and the determination and recognition method used by said buoy have each been separately numbered and the references of each number have been given below.
1 . Carrier unit
2. Signal processing unit
3. Electronic compass
4. Recording unit
5. Carrier steel cable
6. CTD probe sensor
7. Fixing anchors
8. Battery
9. Power distribution unit
10. Top unit
1 1 . Communication unit
12. RF antenna
13. GPS receiver unit
14. GPS antenna
15. Manuel mode selection key
16. Status LEDs
17. Maintenance port
18. Battery port
19. Hydrophone Detailed description of the Invention
The smart buoy using hydrophones (19) submerged into water and a data communication cable over the body in order to determine the platforms by means of the motor and propeller noises of surface and under water platforms, enable the calculation of the distance, speed, type, classification and bearing information of the determined platforms by processing the data that has been obtained from the noises following platform determination and also enable to transfer via a wireless communication protocol, the processed recognition data to a DSH observation station; wherein said buoy comprises;
• Awaterproof box submerged into water comprising a carrier unit (1 ) which carries the hydrophones and signal processing unit,
• A signal processing unit (2) which collects and processes acoustic data and other sensor data,
• An electronic compass (3) which measures the lateral angle of the magnetic north relative to the hydrophones and submits it to the signal processing unit, · A recording unit (4) which records the data obtained by the signal processing
unit,
• A carrier steel cable (5) which connects the carrier unit to the buoy,
• A CTD probe sensor (6) which collects the depth and temperature data,
• A fixing anchor (7) which has a fixing point in order for the buoy to be used as an anchored structure,
• A battery (8) which provides power to the electronic units of the buoy,
• A power distribution unit (9) which distributes the battery energy to the electronic units,
• A top unit (10) which is an impermeable chamber comprising the electronic units that are not present inside the carrier unit but are used by the system and are located on the body of the buoy,
• An RF antenna (12) and a communication unit (1 1 ) used for RF communication of the buoy and which enables the transfer of the processed recognition data to the DSH observation station via a wireless communication protocol,
· A GPS receiver unit (13) and a GPS antenna (14) which determines the position of the buoy using GPS satellites,
• A manual mode selection key (15) which can select different operation modes such as sending the unprocessed or the processed data,
• Status LED's (16) which gives feedback to the user regarding the status of the buoy's operation,
• A maintenance port (17) having a connection point which connects the buoy to a computer in order to configure and program the buoy and download the recorded data, and
• A battery port (18) used to charge batteries. (Figure 1 ).
The data received from the hydrophones (19) are processed in two different ways on the signal processing unit (2) according to the determination and recognition method used by the smart buoy subject to the invention (Figure 2).
In the first process, the data received from different sensors are subjected to equal gain combining procedure. The data received from each sensor is processed on the signal processing unit (2). First of all the data received from each sensor is multiplied by the same coefficient and a single signal is obtained. Following this, the signal obtained is subjected to acoustic analysis; DEMON (Detection of Envelope Modulation on Noise)
analysis for the analysis of propeller information, and LOFAR (Low Frequency Analysis and Ranging) analysis for the analysis of machinery parameters are carried out. The trace information of the data obtained as a result of the analysis is separated from ambient noise and the determination and classification of threats that are present in the surrounding area is performed by feature extraction.
The signal processing unit (2) performs the following;
• carries out the platform classification by processing acoustic data sensed by the hydrophones (19),
· finding the bearing of the target platform according to the position of the hydrophone (19) by processing acoustic data sensed by the hydrophones (19),
• finding the bearing of the target platform according to magnetic north, by combining the bearing according to the hydrophones (19) of the target and the magnetic north angle obtained from the electronic compass (3),
· Obtaining the latitude and longitude information from the GPS receiver unit (13) and calculating the bearing of the target platform in terms of latitude and longitude coordinations by combining the coordinations with the bearing angle formed with the magnetic north of the target platform,
• Encrypting the data obtained by the signal processing unit (2) and providing protection against foreign elements,
• Recording the raw or processed data obtained by the signal processing unit (2), with or without encryption to the recording unit,
• Transmitting the processed data that has been obtained by the signal processing unit (2) via the RF communication unit (1 1 ) with or without encryption to the observation station.
In the second phase the data received from the sensors, are used in order to calculate the angle (bearing) that are in contact with the signal processing unit (2). The determination that is obtained, the classification and bearing information are transferred to the platforms by means of a communication unit (1 1 ).
Claims
1 . The smart buoy using hydrophones (19) submerged into water and a data communication cable over the body in order to determine the platforms by means of the motor and propeller noises of surface and under water platforms, enable the calculation of the distance, speed, type, classification and bearing information of the determined platforms by processing the data that has been obtained from the noises following platform determination and also enable to transfer via a wireless communication protocol, the processed recognition data to a DSH observation station; wherein said buoy comprises;
· A impermeable box submerged into water comprising a carrier unit (1 ) which carries the hydrophones and signal processing unit,
• A signal processing unit (2) which collects and processes acoustic data and other sensor data,
• An electronic compass (3) which measures the lateral angle of the magnetic north relative to the hydrophones and submits it to the signal processing unit,
• A recording unit (4) which records the data obtained by the signal processing unit,
• A carrier steel cable (5) which connects the carrier unit to the buoy,
• A CTD probe sensor (6) which collects the depth and temperature data, · A fixing anchor (7) which has a fixing point in order for the buoy to be used as an anchored structure,
• A battery (8) which provides power to the electronic units of the buoy,
• A power distribution unit (9) which distributes the battery energy to the electronic units,
· A top unit (10) which is an impermeable chamber comprising the electronic units that are not present inside the carrier unit but are used by the system and are located on the body of the buoy,
• A RF antenna (12) and a communication unit (1 1 ) used for RF communication of the buoy and which enables the transfer of the processed recognition data to the DSH observation station via a wireless communication protocol,
• A GPS receiver unit (13) and a GPS antenna (14) which determines the position of the buoy using GPS satellite,
• A manual mode selection key (15) which can select different operation modes such as sending the un processed or the processed data,
· Status LED's (16) which gives feedback to the user regarding the status of the
buoy's operation,
• A maintenance port (17) having a connection point which connects the buoy to a computer in order to configure and program the buoy and download the recorded data, and
· A battery port (18) used to charge batteries.
2. A determination and recognition method used by the smart buoy according to claim 1 ; comprising the following steps;
• the data received from different sensors are subjected to equal gain combining procedure on the signal processing unit (2),
• the data received from each sensor is multiplied by the same coefficient thereby obtaining a single signal,
• the signal obtained is subjected to acoustic analysis,
• DEMON (Detection of Envelope Modulation on Noise) analysis is carried out in order to analyse propeller information,
• LOFAR (Low Frequency Analysis and Ranging) analysis is carried out in order to analyse machinery parameters,
• The trace information of the data obtained from analysis outputs are separated from ambient noise,
· threats that are present in the surrounding area are determined and classified by feature extraction,
• the signal processing unit (2) calculates the contact angle (bearing) by means of using the data obtained from the sensors,
• The obtained determination, classification and bearing information are transmitted to the platforms via the communication unit (1 1 ).
3. A determination and recognition method according to claim 2, characterized in that the signal processing unit (2) processes the acoustic data obtained by the hydrophones (19) and performs platform classification.
4. A determination and recognition method according to claim 2, characterized in that the signal processing unit (2) processes the acoustic data sensed by the hydrophones
(19) thereby calculating the bearing of the target platform according to the position of the hydrophone.
5. A determination and recognition method according to claim 2, characterized in that the signal processing unit (2) combines the bearing of the magnetic north angle and the target it has obtained from the electronic compass (3) relative to the hydrophones (19)
and calculates the bearing of the target platform relative to magnetic north.
6. A determination and recognition method according to claim 2, characterized in that the signal processing unit (2) obtains the latitude and longitude information of the buoy from the GPS receiver unit (13) and combines said information with the bearing angle of the target platform with magnetic north thereby obtaining the bearing of the target platform in terms of latitude and longitude coordinates.
7. A determination and recognition method according to claim 2, characterized in that the signal processing unit (2) encrypts the data it has obtained thereby providing protection against foreign factors.
8. A determination and recognition method according to claim 2, characterized in that the signal processing unit (2) records the encrypted or unencrypted raw or processed data in the recording unit (4).
9. A determination and recognition method according to claim 2, characterized in that the signal processing unit (2) submits the processed encrypted or unencrypted data it has obtained via the RF communication unit (1 1 ) to the observation station.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TR201412742 | 2014-10-31 | ||
| TR2014/12742 | 2014-10-31 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2016068821A1 true WO2016068821A1 (en) | 2016-05-06 |
Family
ID=55070118
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/TR2015/050144 WO2016068821A1 (en) | 2014-10-31 | 2015-10-22 | Smart buoy which can carry out platform determination and recognition and a determination and recognition method using said buoy |
Country Status (1)
| Country | Link |
|---|---|
| WO (1) | WO2016068821A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114636441A (en) * | 2022-02-23 | 2022-06-17 | 国家海洋技术中心 | Multi-parameter sensor suitable for underwater low-temperature high-pressure environment and testing method thereof |
| WO2022226859A1 (en) * | 2021-04-28 | 2022-11-03 | 江苏南大五维电子科技有限公司 | Underwater specific sound extracting device |
| RU2801077C1 (en) * | 2023-02-17 | 2023-08-01 | Акционерное общество "Концерн "Центральный научно-исследовательский институт "Электроприбор" | Method for measuring noise of underwater vehicle |
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| US5224074A (en) | 1992-07-08 | 1993-06-29 | The United States Of America As Represented By The Secretary Of The Navy | Sonobuoy for forming virtual vertical sensing arrays |
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| US6418082B1 (en) * | 1999-06-30 | 2002-07-09 | Lockheed Martin Corporation | Bottom moored and tethered sensors for sensing amplitude and direction of pressure waves |
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| US20090067289A1 (en) * | 2007-03-09 | 2009-03-12 | Lockheed Martin Corporation | Communicating using sonar signals at multiple frequencies |
| US20090207698A1 (en) * | 2005-10-14 | 2009-08-20 | Kitchin David A | Vertical Line Hydrophone Array |
| US20090262600A1 (en) * | 2007-03-26 | 2009-10-22 | Railey Guy T | Methods and apparatus for surveillance sonar systems |
| US20130128689A1 (en) * | 2011-11-23 | 2013-05-23 | Lockheed Martin Corporation | Communication device and method for sensing and transmitting data for military sensors |
| US8677920B1 (en) * | 2007-08-30 | 2014-03-25 | Ocom Technology LLC | Underwater vehicle |
-
2015
- 2015-10-22 WO PCT/TR2015/050144 patent/WO2016068821A1/en active Application Filing
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3870989A (en) | 1970-03-16 | 1975-03-11 | Sanders Associates Inc | Underwater direction signal processing system |
| US4673363A (en) | 1983-06-15 | 1987-06-16 | Sippican Ocean Systems, Inc. | Marine measurement device |
| CA1228665A (en) | 1983-06-15 | 1987-10-27 | David P. Gagnon | Marine measurement device |
| JPH0266481A (en) | 1988-08-31 | 1990-03-06 | Nec Corp | Objective position detecting device |
| US5224074A (en) | 1992-07-08 | 1993-06-29 | The United States Of America As Represented By The Secretary Of The Navy | Sonobuoy for forming virtual vertical sensing arrays |
| US5691957A (en) * | 1994-06-30 | 1997-11-25 | Woods Hole Oceanographic Institution | Ocean acoustic tomography |
| US5577942A (en) * | 1995-07-28 | 1996-11-26 | The United States Of America As Represented By The Secretary Of The Navy | Station keeping buoy system |
| US6418082B1 (en) * | 1999-06-30 | 2002-07-09 | Lockheed Martin Corporation | Bottom moored and tethered sensors for sensing amplitude and direction of pressure waves |
| FR2834557A1 (en) * | 2002-01-07 | 2003-07-11 | Alain Faisant | Device for collecting physical, chemical and biological data while following masses of water in ocean currents is autonomous, modular, evolving, multifunctional and with a reduced size and mass |
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| RU2801077C1 (en) * | 2023-02-17 | 2023-08-01 | Акционерное общество "Концерн "Центральный научно-исследовательский институт "Электроприбор" | Method for measuring noise of underwater vehicle |
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