EP0715582A1 - Verfahren zum orten und räumen von seeminen - Google Patents
Verfahren zum orten und räumen von seeminenInfo
- Publication number
- EP0715582A1 EP0715582A1 EP95925762A EP95925762A EP0715582A1 EP 0715582 A1 EP0715582 A1 EP 0715582A1 EP 95925762 A EP95925762 A EP 95925762A EP 95925762 A EP95925762 A EP 95925762A EP 0715582 A1 EP0715582 A1 EP 0715582A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- towing
- sonar
- mine
- transponders
- towing vehicle
- 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.)
- Granted
Links
Classifications
-
- 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
- B63G7/00—Mine-sweeping; Vessels characterised thereby
- B63G7/02—Mine-sweeping means, Means for destroying mines
- B63G7/08—Mine-sweeping means, Means for destroying mines of acoustic type
Definitions
- the invention relates to a method for locating and clearing sea mines according to the preamble of claim 1. It uses a search and measurement sonar device, which is pulled by an unmanned towing vehicle at an adjustable towing depth, for the detection and localization of the mines, an unmanned, remote-controlled from a floating guide platform Spacecraft; as well as a data connection provided between the towing vehicle and the guide platform for transmitting the position data of the mines determined by the sonar device to the guide platform.
- a search and measurement sonar device which is pulled by an unmanned towing vehicle at an adjustable towing depth, for the detection and localization of the mines, an unmanned, remote-controlled from a floating guide platform Spacecraft; as well as a data connection provided between the towing vehicle and the guide platform for transmitting the position data of the mines determined by the sonar device to the guide platform.
- an unmanned, remote-controlled towing vehicle pulls away Type seahorse with adjustable towing depth a search and measurement sonar device VDS through a route to be cleared of mines, whereby the search sonar locates and locates the mines to be removed.
- the position data of the mine are transmitted via cable to the towing vehicle, which transmits this data over a radio link
- this guide platform guides a Seewolf control drone to the mine in order to render it harmless, since the search sonar can only determine the relative position of the mine in relation to its own position and ongoing position inventory
- Immunity of the search sonar related to the towing vehicle on the one hand and on the other hand with regard to the geographical position of the towing vehicle itself is necessary so that the position of the mine can ultimately be determined in geographical coordinates and made available to the guide platform for the combat drone.
- the method according to the invention comprises the following method steps: on both sides of a channel to be cleared from mines, navigation transponders are placed on the water bottom at greater longitudinal distances; the towing vehicle pulls the towing sonar through the fairway, the towing vehicle sonar determining the distances to at least three transponders at different positions of the towing vehicle and transmitting these to the data processing system of the towing vehicle; and wherein the towing sonar: measures its own towing depth and continuously informs the data processing system located on the towing vehicle; determines the distances to at least three transponders in relation to the towing sonar and communicates this data to the data processing system; determine the position of the mine in relation to the towing sonar with a mine search sonar and communicate these mine coordinates to the data processing system; the data processing system calculates: from the data of the towing vehicle sonar the mutual position of the transponders or the position of the transponders in a suitable one
- Transponder coordinate system the position of the towing sonar in the transponder coordinate system from the towing depth of the towing sonar and the transponder distances to the towing sonar; and - from the coordinates of the mine provided by the mine search sonar, their relative position with respect to the transponders; the towing vehicle transmits the position data of the transponder and the position data of the mine in the coordinate system of the transponder to the guide platform for the clearing vehicle; - The guide platform directs the clearing vehicle in the vicinity of the transponder and from there towards the mine, the position of which was previously determined; the clearing vehicle makes the mine harmless.
- Advantageous embodiments of the invention are characterized in the subclaims.
- a major advantage of the invention is that the complex tracking body tracking from the towing vehicle can be omitted. Nevertheless, the location and control of the mines can be carried out completely independently of one another. The process is divided into three phases, namely that Laying the transponders, locating the mines and locating them in relation to the transponders and introducing the control drone to the transponders and the mine, the drone moving in a coordinate system determined by the transponders.
- the transponders can either be released from the helicopter or with the aid of a laying vehicle, which is of the same type or the same, for example, as will later be used as a towing vehicle for the search and measurement sonar device.
- This sonar is towed to a predetermined depth, but its geographic position does not need to be accurately determined and continuously determined.
- the VDS (variable depth sonar) towing sonar includes a sonar sensor for ground mines and anchor mines lying on the ground as well as a sediment sonar for the detection of flooded sea mines. It measures the mine position in relation to at least three neighboring transponders. A compass in the sonar indicates its direction.
- a depth sensor determines the distance of the sonar device above the water floor.
- a sonar provided on the towing vehicle measures the relative distance between the towing vehicle and at least three selected transponders.
- An inertial system on the towing vehicle determines the distance vectors traveled between the transponder measurements.
- the VDS variable depth sonar
- Velocity of sound measured in the individual water layers is obtained.
- the geographic position of the transponders is obtained. From this information and the determined position of the mine in the transponder coordinate system, the geographic position of the mine can be determined, which is used for the initial control of the control drone. For a precise start of the mine, however, the combat drone does not need to know its geographical position. Rather, the drone is oriented in the transponder coordinate system and is guided to it using the transponder-related mine data determined by the towing sonar.
- the drone contains a transducer which measures its relative position with respect to the transponders adjacent to the mine and in this way guides the drone to the mine and destroys it.
- the geographical position of the towing vehicle determined by GPS can also be transmitted to the guide platform and displayed there. It is advantageous that the combat drone does not need its own inertial system, nor does its position need to be continuously determined. It is oriented rather in the transponder coordinate system. As a result, the device technology required in the drone itself for its target control is reduced to a minimum, so that it is designed for single use and the process can nevertheless be carried out at reasonable cost.
- FIG. 1 shows the spatial position of the mines, transponders and vehicles
- FIG. 2 in the form of circuit blocks shows an exemplary embodiment of the devices used to carry out the method.
- FIG. 1 shows in the right part an arrangement for locating and measuring a mine 1 lying at the bottom of the body of water, while the fight against this mine is shown in the left part.
- the transponders are laid before the measurement, of which only three transponders 2, 3 and 4 are shown here. They were set down on both sides of a fairway to be cleared of mines, for example at a distance A of 1.5 km, on the sea floor.
- the same towing vehicle 5 can be used, if necessary, which will later tow the search and measurement sonar device 6.
- the geographic position of the towing vehicle 5 is determined by a satellite-based navigation system GPS, of which only two of the satellites 7 are shown.
- the direction of travel and speed of the towing vehicle 5 are determined by an inertial system 8 installed on the towing vehicle, which is equipped, for example, with laser gyroscopes. This determines the position, direction and speed of the towing vehicle.
- This data is transmitted to the guide platform 10 by means of a radio link 9.
- the unmanned towing vehicle 5 is remotely controlled via the radio link 9.
- a mapping converter 11 extended from the keel of the towing vehicle 5 has the task of determining the position of the transponders 2 to 4 in a suitable transponder coordinate system by means of transit time measurement and thus by determining the distance between the towing vehicle 5 and the transponders 2 to 4.
- the same transponders 2 to 4 are appropriately used by the mapping converter 12 of the towing sonar 6.
- the corresponding data are via the trailing cable 13 to Transfer navigation computer of the towing vehicle 5.
- the towing body 6 is also equipped with a depth sensor in order to determine its respective diving depth and thus the height distance on the one hand to the towing vehicle 5 and on the other hand to the transponders. It also has a compass to determine its orientation in the towing direction, since it may be inclined to the towing direction due to the flow conditions.
- the position of the mine 1 in the coordinate system of the transponders 2 to 4 is clearly defined with these data of the towed body 12, the mine search sonar 12a and the towed vehicle sonar 11. These position data of the mine with respect to the transponder coordinate system reach the guide platform 10 via the radio link 9.
- the navigation converter 21 of the drone 20 constantly measures the distance to the transponders 2 'to 4' and thus at the same time the position of the drone 20 with respect to the mine 1 '.
- the data are transmitted via the steering cable 22 to the guide platform, which transmits corresponding steering signals for the drone 20 back to the latter, in order to bring the drone 20 closer to the mine 1 ′.
- the drone 20 need not have its own navigation computer. If the drone 20 is located above the mine 1 ', it is lowered onto the mine and ignited. If the drone is equipped with a special explosive device 23, this is set down directly next to the mine 1, the drone is led away from the danger zone and then the explosive device 23 is detonated and the mine is destroyed.
- the transponder basic measurement can also be carried out by measuring the transit time between the transponders and the towing vehicle if such a measurement is carried out at different positions of the towing vehicle.
- a certain frequency is assigned to each of the transponders, the transponders designed on the left edge of the channel being, for example, the even multiples of a basic frequency and those on the transponders on the right can assign the odd multiples of the fundamental frequency.
- FIG. 2 shows schematically the individual components of a system for performing the location and clearing process. Only one of the transponders 2 to 4, namely the transponder 2, is shown. In addition to a transmission / reception converter 24, it contains a battery 25 for the power supply, an armature 26, a transmission / reception switch 27, a preamplifier and filter circuit 28, a signal detector 29 and a transmission signal generator 30. The operation of transponders is known. After preamplification and filtering, the incoming signal is fed to the detector 29, which determines whether it is a valid interrogation signal. If this is the case, the transmission signal generator 30 generates a corresponding response signal which, via the transmission / reception switch 27, arrives at the converter 24, which is now used as a transmission converter, and is emitted.
- the transponders 2 to 4 are interrogated by the mapping converter 12 of the towed body 6 and the mapping converter 11 of the towed vehicle 5, which interrogate the individual transponders one after the other.
- the response signal insofar as it falls within the pass band of a filter circuit 31, arrives at the transmission / reception switch shown in the same block and from there to a transit time measuring circuit 32.
- the output signal thereof together with the output signals of a depth sensor 33 and a compass 34, is via the Transfer cable 13 digitally to the towing vehicle 5.
- the navigation computer 35 of the towing vehicle 5 thus receives three runtime values via the cable 13, namely the runtimes between the mapping converter 12 on the one hand and the three transponders 2 to 4 on the other hand, as well as the depth and direction signals mentioned from the depth sensor 33 and the compass 34 the position of the mine 1 with respect to the towed body 6 is determined with the mine search sonar 12a of the towed body 6.
- circuits corresponding to the circuits 31 and 32 - not shown separately in FIG. 2 - are connected to the converter 12a of the mine search sonar.
- These signals also reach the navigation computer 35 of the towing vehicle 5 via the cable 13, which calculates the position of the mine 1 in relation to the transponders 2 to 4.
- the towing vehicle 5 is also, as already explained above, with a location determination system 7 and with a Inertial system 8 equipped.
- the satellite-based positioning system 7 is usually a GPS system.
- the mapping converter 11 of the towing vehicle 5 also works with the transceiver 24 of the transponders 2 to 4 by activating them by means of a polling frequency and determining the transit time to the individual transponders via the response frequency. For this purpose, it is connected via a filter bank and a transmit / receive switch 36 to a transit time measuring circuit 37, the output signals of which reach the navigation computer 35 of the towing vehicle 5.
- This navigation computer thus determines the position of the mine 1 with respect to the transponders 2 to 4 from the data transmitted via the cable 13.
- the distance data generated by the mapping converter 11 between the towing vehicle 5 and the transponders 2 to 4 it calculates the spatial position of the Transponder based on the towing vehicle 5. By taking the own position data from the GPS 7 and the inertial system 8 into account, it calculates the geographical
- the guide platform 10 is equipped with a navigation computer 38 and controls the combat drone 20. For this purpose, it is connected to the drone via a cable 22. This can be a light guide, for example. The same applies to the cable connection 13.
- the drone 20 is also expediently equipped with a compass 40 and uses its navigation converter 21 to measure the distances to the transponders 2 'to 4'. The drone 20 is steered from the guide platform 10 in such a way that the distances to the three transponders assume the value which corresponds to the projection of the connecting lines of the mine 1 with the transponders 2 to 4.
- the navigation converter 21 is connected via a filter bank with a subsequent transmission / reception switch 41 to a transit time measurement circuit 42 which supplies the transit time signals via the cable 22 to the navigation computer 38 of the guide platform 10.
- the drone itself does not need its own navigation computer.
- Appropriate steering signals via the cable 22 control the drone 20 such that the projection of the connecting lines between its navigation converter 21 and the transponders 2 'to 4' corresponds to the connecting lines between the mine 1 and the transponders 2 to 4.
- the drone 20 is located exactly above the mine 1 '. If it is equipped with an explosive charge, it is lowered onto the mine l 1 and detonated.
Abstract
Description
Claims
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE4423235 | 1994-07-02 | ||
DE4423235A DE4423235C2 (de) | 1994-07-02 | 1994-07-02 | Verfahren zum Orten und Räumen von Seeminen |
PCT/EP1995/002476 WO1996001206A1 (de) | 1994-07-02 | 1995-06-26 | Verfahren zum orten und räumen von seeminen |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0715582A1 true EP0715582A1 (de) | 1996-06-12 |
EP0715582B1 EP0715582B1 (de) | 1998-05-20 |
Family
ID=6522095
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP95925762A Expired - Lifetime EP0715582B1 (de) | 1994-07-02 | 1995-06-26 | Verfahren zum orten und räumen von seeminen |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP0715582B1 (de) |
DE (2) | DE4423235C2 (de) |
WO (1) | WO1996001206A1 (de) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19750853C2 (de) * | 1997-11-17 | 2001-08-16 | Stn Atlas Elektronik Gmbh | Schiffsgestützte Auslaufvorrichtung für ein Verbindungskabel zu einem eigengetriebenen Unterwasserfahrzeug |
GB9928220D0 (en) | 1999-11-30 | 2000-05-24 | Roke Manor Research | Autonomous off-board defensive aids system |
DE102005014555B4 (de) * | 2005-03-31 | 2010-07-29 | Atlas Elektronik Gmbh | Minenjagdsystem und Verfahren zur Minenjagd |
DE102019005870A1 (de) * | 2019-08-20 | 2021-02-25 | Bundesrepublik Deutschland, vertreten durch das Bundesministerium der Verteidigung, dieses vertreten durch das Bundesamt für Ausrüstung, Informationstechnik und Nutzung der Bundeswehr | System zur Treibminenvernichtung |
CN112099523B (zh) * | 2020-08-18 | 2022-02-22 | 武汉理工大学 | 基于无人机的船舶操纵性能检测方法、系统和存储介质 |
CN116625180A (zh) * | 2023-05-10 | 2023-08-22 | 中国舰船研究设计中心 | 一种测量悬浮式深弹弹阵相邻落点间隔距离的方法 |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3609307C1 (de) * | 1986-03-20 | 1987-08-13 | Licentia Gmbh | Verfahren zum Detektieren und Orten,Lokalisieren,Relokalisieren und Vernichten einer Mine |
-
1994
- 1994-07-02 DE DE4423235A patent/DE4423235C2/de not_active Expired - Fee Related
-
1995
- 1995-06-26 WO PCT/EP1995/002476 patent/WO1996001206A1/de active IP Right Grant
- 1995-06-26 EP EP95925762A patent/EP0715582B1/de not_active Expired - Lifetime
- 1995-06-26 DE DE59502245T patent/DE59502245D1/de not_active Expired - Fee Related
Non-Patent Citations (1)
Title |
---|
See references of WO9601206A1 * |
Also Published As
Publication number | Publication date |
---|---|
EP0715582B1 (de) | 1998-05-20 |
DE59502245D1 (de) | 1998-06-25 |
WO1996001206A1 (de) | 1996-01-18 |
DE4423235A1 (de) | 1996-01-04 |
DE4423235C2 (de) | 1997-05-28 |
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