EP0787095B1 - Procede et systeme de destruction d'objets sous-marins, notamment de mines sous-marines - Google Patents

Procede et systeme de destruction d'objets sous-marins, notamment de mines sous-marines Download PDF

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Publication number
EP0787095B1
EP0787095B1 EP95935493A EP95935493A EP0787095B1 EP 0787095 B1 EP0787095 B1 EP 0787095B1 EP 95935493 A EP95935493 A EP 95935493A EP 95935493 A EP95935493 A EP 95935493A EP 0787095 B1 EP0787095 B1 EP 0787095B1
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EP
European Patent Office
Prior art keywords
mine
vehicle
hunter
control station
tactical control
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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
Application number
EP95935493A
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German (de)
English (en)
French (fr)
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EP0787095A1 (fr
Inventor
Gilles Posseme
Christian Labiau
Gilles Kervern
Guy Le Bihan
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Thales SA
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Thomson CSF SA
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G7/00—Mine-sweeping; Vessels characterised thereby
    • B63G7/02—Mine-sweeping means, Means for destroying mines

Definitions

  • the present invention relates to a method and system for destruction of underwater objects, in particular underwater mines, using an autonomous consumable and submerged device carrying a device of underwater destruction.
  • the field of the invention relates to mine warfare, area that all navies face.
  • a known system consists of locating an underwater mine, dropping a means of location comprising at least two acoustic markers, or transponders, serving as fixed landmarks in the vicinity of the mine to be destroyed, to relocate the mine by determining its position relative to these markers, and activating the destruction device using position data.
  • Means of underwater destruction are carried by a surface or subsurface vehicle remotely controlled or not from a platform, and which tows by example a fish equipped with a side sonar, this vehicle being equipped with means for releasing the locating means.
  • a relocation device is for example placed at the back of the fish sailing in its wake.
  • the destruction device is preferably carried by the relocation and can be for example a torpedo.
  • This system of mine destruction has the disadvantage of using resources costly of relocation and destruction likely to be destroyed in same time as the mine. On the other hand this system does not work effectively in the case of subsurface mines and in particular for moored mines.
  • the invention aims to overcome the aforementioned drawbacks.
  • the invention relates to a method of destruction of underwater objects, consisting of guiding, from a hunter's vessel mines, a remote-controlled device carrying underwater destruction devices, characterized in that it consists, after launching the vehicle, in guiding the vehicle to the mine via sonar coupled to a checkpoint hunter tactics providing classification and control functions permanent position of the machine relative to the mine, to drop a means of tracking carried by the machine once the machine has arrived at a distance determined from the mine to ensure a designation function objective in cooperation with the machine and the tactical control post of the hunter then, to communicate with the machine via the station of tactical control, the navigation parameters necessary for its strategy of attack according to the type of mines encountered and its position referenced by means of fixed location and, to destroy the mine according to the strategy attack acquired by the craft.
  • One of the main advantages of the invention is to use a single type autonomous remote-controlled vehicle, usable with efficiency and safety total for the launch platform which can be a surface building hereinafter called “hunter", this for bottom mines, and for long or short rode mines, subsurfaces or not.
  • the use of a acoustic marker carried by the machine ensures the function of designation of objective in permanent cooperation, with the means efficient hunter classification, without the need for a sonar high definition on the machine, the latter can therefore be consumable.
  • a bottom mine is a dense object, of various shape and volume, can contain up to one ton of explosive.
  • the mine rests on a bottom which can be of any kind, sandy, rocky, muddy, and its surroundings can be water cloudy or clear water (still allowing its detection by hunting means).
  • the nature of the hull is metallic (steel, aluminum) or composite.
  • a short rope mine is a device that has the capacity to transport an explosive charge on his own.
  • the mine is consisting of a fixed assembly forming an anchor on the bottom and a mobile assembly forming the projectile. These two sets are connected to the by means of a rope a few meters in length.
  • a mine in open water is a mine whose immersion is greater than 10 m, and for which the detection is not ambiguous, the anchor Orin which may be at any deep immersion.
  • a subsurface mine is a target whose immersion is less than 10 m, and for which detection can be made difficult due to the proximity to the surface, which can make the approach tricky depending on the sea state. It is important to define each type of target well, because in function of target types detected a particular attack strategy is adopted by the destructive device.
  • a step prior to launch sequence 1, illustrated by Figures 2a and 2b, allows you to make a launch decision after detection, classification and possibly identification of a mine, mine placed on the bottom 5 figure 2a, or subsurface mine 6 figure 2b, in particular a mooring mine.
  • This launch decision is made using resources hunting 7 located for example in a hunter 8.
  • the coordinates of mine 5, 6 are known to hunter 8 as well as the nature threat and some environment data. All these operations and data acquisitions are made from hunting means 7 located on board the hunter 8.
  • the hunter 8 remains in classification situation on mine 5, 6 the most as long as possible during the mission.
  • FIG. 3 illustrates different types of launch platform, this platform being able to be the hunter 8 itself, a specialized surface building 10, or a helicopter 11.
  • the vehicle 9 To ensure the safety of the hunter 8 for the duration of his mission, it is necessary to know the position of the destructive device 9 to any time between launch sequence 1 and the end of the mission, i.e. the attack sequence 4, the vehicle 9 must therefore be tracked.
  • the hunter imager 8, not shown, cannot be used because it must stay directed towards mine 5, 6. As and it is not omnidirectional, a specific device for guiding the destructive device 9 is necessary.
  • the guidance is carried out from the hunter 8.
  • the functions of guidance, tracking, and more generally of communication between the destructive machine 9 and the hunter 8 are implemented by a specific device hereinafter called “station of tactical control "12, coupled to hunting means 7, and which will be hereinafter referred to only as the tactical checkpoint 12.
  • Tactical control station 12 supports the destructive device 9 as soon as it is launched. He manages the mission of destructive machine 9 in a way automatic until its end. The operator only intervenes to give the attack order, on the other hand, via tactical checkpoint 12 the operational knowledge of the evolution of the mission. Located on board hunter 8 the tactical checkpoint 12 benefit of all the knowledge of hunting means 7: the coordinates of the target (classification relative), environmental data (background, current, profile, bathimetry) as well as all the data relating to the mine by relation to its environment which can contribute to the success of the mission (background configuration, identification result ).
  • Tactical control station 12 guides and tracks the machine destructor 9 from launch sequence 1 to waiting sequence 3. He communicates to him the parameters of his mission, and in return receives a coded message, or "status", of destructive device 9, the message containing its immersion and status data. During attack sequence 4 the vehicle 9, although it is autonomous, is still tracked, subject to acoustic propagation conditions of the medium.
  • Materially the post of tactical control 12 is equipped, for example, with a transmission-reception base two acoustic transducers with hemispherical directivity of range of about 1 km. The base is mounted on the hull of the hunter 8 of so as to measure the apparent deposit of the destructive device 9. This base is not shown.
  • the rally sequence 2 of the machine 9 to the target 5, 6 can be performed with the accuracy of the classification function of the sonar.
  • the approach final after rally sequence 2 implies precise knowledge of the goal, by learning the apparatus 9, autonomous, or assisted by the post of tactical control 12 of the fighter 8, until the machine 9 has all the data which will allow it in sequence 4 to attack the target 5, 6.
  • Attack 4 must lead to the destruction of target 5, 6, which implies that all the arrangements are made so that the operational means located on board the hunter 8 are in a safe situation.
  • a waiting sequence 3 is necessary and corresponds to a sequence preparation before attack sequence 4.
  • the hunter 8 is for example a surface building with an imager, a high classifier sonar definition both coupled to a tactical control station 12 allowing in general to communicate with the autonomous destructive device 9 throughout the duration of the mission.
  • the hunter 8 located a target.
  • an attack strategy is chosen by the tactical checkpoint 12 in depending on the type of mine detected: bottom mine, long rope, short rope, subsurface.
  • the tactical control station 12 acquires different parameters before launch 1 of the destructive device 9.
  • These parameters define the nature of the threat, the coordinates of the mine, the height of water, the orientation and intensity of the average current, the altitude in the case a bottom mine or a short ore mine, or immersion in the case a subsurface mine, or a long-tailed mine.
  • the destructive device 9 During the launch sequence 1 of the destructive device 9, the latter is electrically inert until it has reached safety immersion determined.
  • the destructive device 9 adopts a certain number of settings. He does not yet know the purpose of his mission.
  • the post of tactical control 12 guides the destructive device 9 to the mine 5, 6.
  • the destructive machine 9 carries a locating means 13 which will be dropped in the vicinity of mine 5 at a determined distance of this one.
  • the locating means illustrated in FIG. 4 constitutes a marker acoustic.
  • the marker 13 consists of a part with positive buoyancy by example of a float 14 of spherical shape with an overall diameter of the order 10 cm. A few centimeters from the bottom, the float 14 ensures good contrast. marker 13 should be heard throughout the upper hemisphere and at a short distance in the case of a bottom mine 5, and at an angle slightly more restricted solid, about 3 ⁇ / 2 radians, but long distances, approximately 400 m in the case of a mooring mine 5.
  • an emission transducer 15 is arranged on the top of the float 14.
  • the marker 13 is therefore provided with a dense anchor 16, of in which the bootable battery and the electronics are housed later called “transmitter”.
  • the float 14 equipped with the transducer 15 is coupled to the anchor 16 by a rope 17 serving as a conductor between the transmitter 16 and the transducer 14. If a propulsion damage and / or of the destructive device 9 occurs during the sequence of rally 2 this one falls on the bottom.
  • the marker 13 has two main functions: a first function of objective designation relay and a second function of "pinger" of identification of destructive device 9 in the event of damage during the sequence rally 2.
  • the marker 13 is fixed on the destructive device 9 during the launch sequences 1 and rally 2 to then be released, by example, by remote control, at the end of rallying sequence 2 nearby of mine 5.
  • Marker 13 is autonomous, it is powered for example by a battery that can be primed with sea water.
  • the marker 13 is located in the field insonified by the hunter's sonar, in an area known to low uncertainties. As a result, a modest reflection index of the order of -20 dB is sufficient to be seen by the classifying sonar of the hunter 8.
  • FIGS. 5 and 6 An example of a destructive device 9 is represented by FIGS. 5 and 6.
  • FIG. 5 represents the vehicle 9 at the start of the mission, during the launch sequence 1 and the start of rally sequence 2.
  • FIG. 6 represents the machine at the end of rallying sequence 2, the marker 13 dropped.
  • the homologous elements are designated by the same references.
  • the machine 9 comprises a propulsion device 17 and a control surface 18 located in the tail of craft 9, an underwater ammunition compartment 19 located in the center of craft 9, marker 13 and its device ejection 20 disposed at the head of the machine 9, and a set of homing heads 21H, 21B and 21F and sensors not shown, coupled to electronics 22.
  • the vertical sounder function generates a downward emission or upwards with respect to the destructive device and operates in detection of the first echo.
  • the zone close to the target is not unknown because it was seen by the imager of the hunter 8 and the rally is guided.
  • the range of the sounder is approximately 50m.
  • the destructive device 9 thus has external markers (marker 13, mine 6) and its own resources intended to accomplish its mission.
  • the calculation means on board the machine 9 allow it to calculate, from the guidance orders, its immersion (or altitude) its heading and its speed, which will then be translated by the machine 9 into commands for steering and propulsion bodies 18.
  • marker 13 is active, its emission is used by at least one of the seeker of the machine 9 to synchronize by internal coupling its internal clock which avoids to implement a reception function on marker 13.
  • the control post tactical 12 When guiding the machine 9 towards mine 5, the control post tactical 12 measures the oblique distance of the destructive device 9 and its apparent deposit. The destructive device 9 then transmits to the post of tactical control 12 its immersion and its "status". The control post tactical 12 then calculates the coordinates of the destructive device 9 and the then transmits to the vehicle 9 as well as the guidance data and, the nature of the threat, which induces a determined strategy and default settings, current information, as well as other specific parameters. The tactical control station 12 then transmits the order of ejection of marker 13 to device 9.
  • the destructive machine 9 In the case of a bottom mine 5, after dropping the marker 13 near the mine 5, in the waiting sequence 3, the destructive machine 9 is positioned at an altitude corresponding to the altitude of an orbit waiting period. During this time, the tactical control station 12 transmits a set attitude to the destructive device 9 which positions itself in a waiting orbit around the marker 13. During the waiting sequence 3, the destructive device 9 "learns "the direction of the current, and the tactical control station 12 transmits to it the coordinates of a vector CM measured by hunter classifier sonar 8, this vector CM giving the position of the mine 5 relative to the fixed frame of reference constituted by the acoustic marker 13 continuously emitting a signal recognizable by the machine 9.
  • the machine 9 then leaves its waiting orbit and positions itself in orbit around the mine 5, it calculates the trajectory which allows it to arrive on mine 5 facing the current, then transmits a "status" to the tactical control post 12.
  • the machine 9 and mine 5 are seen in the hunter's classifier field 8.
  • the destructive machine 9 is then entirely autonomous, and the hunter 8 moves away at a determined safety distance from the destruction zone.
  • the machine 9 then reaches an attack altitude and begins a trajectory according to the trajectory calculated from data continuously updated by the tactical control station 12 of the fighter 8, these data corresponding to the azimuth data, distance from the mine 5 with respect to marker 13, i.e. the vector CM , and altitude.
  • the attack sequence 4 the machine 9 shoots "on the fly", vertically above the target 5.
  • the seeker 21H covering the upper hemisphere of the machine 9 fires. It manages the reception of information from marker 13 as well as the broadcast of his homeroom 21H.
  • the function of detection and localization of marker 13 does not use any of the receiving transducers which are the same as the transducers of the sounder which no longer needs to be operational because the location of the marker 13 implicitly performs the sounder function.
  • Machine 9 measures the coordinates of marker 13 by telegoniometry; the scope of marker 13 is around 400 m.
  • the machine 9 In the detection and location function of a ruddy mine 6, the machine 9 is guided by the tactical control station 12 of the hunter 8 and sails at an altitude lower than that of the orin mine 6 (subsurface or in open water).
  • the 21H seeker broadcast covers the hemisphere upper part of the machine at an angle of about 120 °. Machine 9 thus has coordinates of mine 6 in relation to itself.
  • the second vertical seeker 21B In the case of a short strand mine, operation is symmetrical, the second vertical seeker 21B generating a transmission-reception from below to cover the lower hemisphere of the machine according to a angle of about 120 °. It is the front seeker 21F of machine 9 which allows to re-acquire and continue mine 6 when machine 9 leaves its waiting orbit to position itself at the immersion of mine 6. Opening in front field seeker 21F is wide enough to cover the uncertainty on the position of the mine in relation to marker 13. The opening in site is restricted in order to reduce the surface echo in the case of a subsurface mine. The scope of the homers is around 50 m.
  • Figures 7 and 8 illustrate the guidance to the mine respectively for a bottom mine 5 and for a ruddy mine 6.
  • the control post hunter's tactic 12 guides the destructive device 9.
  • Marker 13 is powered by a bootable battery.
  • the sensors attitude, altitude, heading are activated.
  • Figure 9 After dropping the marker 13 near the mine 5, the destructive device 9 is positioned at the altitude of the default orbit.
  • the tactical control station 12 possibly transmits an altitude of instruction, to the destructive device 9 which is positioned in an orbit around the marker 13 in the direct direction, remote controlled, it is autonomous. during this time the destructive device 9 learns the direction of the current.
  • the tactical control station 12 transmits the characteristics of the vector CM measured by the hunter's classifying sonar 8.
  • the destructive machine 9 is positioned in orbit around the mine 5, it calculates the trajectory which allows it to arrive at the mine 5 facing the current and then transmits a status to the hunter 8.
  • the marker 13 and mine 5 are seen in the hunter's classifier field 8.
  • the destructive machine 9 is autonomous, the hunter 8 withdraws to a safety distance.
  • FIG 11 The tactical control station 12 of the hunter 8 transmits the attack order to the destructive device 9.
  • the destructive device 9 leaves its orbit to reach its attack altitude then attacks according to the calculated trajectory and reset to day by azimuth data, marker distance, vector CM and altitude.
  • the destructive device 9 then fires "on the fly", vertical to the mine 5.
  • Figures 12 to 17 illustrate more particularly the case of a mine subsurface, that is to say whose immersion is less than 10 m.
  • Figure 12 After dropping the marker 13, destructive device 9 is guided near mine 6, at the immersion of the default waiting orbit. The seeker 21H of machine 9 is triggered on the upper hemisphere. The destructive device 9 manages the reception of the signals emitted by the marker 13 as well as the broadcast of his homeroom 21H.
  • the destructive device 9 transmits to the tactical control station 12 the immersion of mine 6 and a status.
  • Tactical control station 12 transmits to the machine destroyer 9 the order of orbit around the mine 6 and possibly the immersion; the orbit is referenced with respect to marker 13.
  • the spacecraft destroyer 9 calculates the trajectory which allows him to arrive on the mine 6 face aware.
  • the tactical control station 12 observes the orbiting.
  • the destructive machine 9 is autonomous, the hunter 8 folds away from security.
  • Figure 16 The destructive device 9 rejoins its attack immersion corresponding to that of mine 6 according to the calculated path leading it facing the current.
  • Figure 17 The destructive device 9 hooked mine 6 by means of its front seeker 21F. It updates its final trajectory to pass into first of mine 6 facing the current, then it fires on the side of the mine 6.
  • Figure 18 After dropping the marker 13, the destructive device 9 is guided near the mine, at the altitude of the default holding orbit, by example 12 m above the bottom. The vertical seeker 21B covering the lower hemisphere is triggered. Destructive vehicle 9 manages reception signals emitted by the marker 13 as well as the emission of sound seeker 21B.
  • Figure 19 The destructive machine 9, guided, sails at constant altitude, it measures and learns: the altitude of mine 6, the geometry by its vector CM , and the direction of the current. It then transmits to mine tactical control station 12 the altitude of mine 6 and a "status".
  • FIG 20 The tactical control station 12 transmits to the machine destroyer 9 the order of orbit around the mine 6 and possibly the immersion; the orbit is referenced with respect to marker 13.
  • the spacecraft destroyer 9 calculates the trajectory which allows him to arrive on the mine 6 face aware.
  • the tactical control station 12 observes the orbiting.
  • the destructive machine 9 is autonomous, the hunter 8 folds away from security.
  • Figure 21 The hunter 8 at a safe distance transmits by the tactical checkpoint 12 attack order.
  • Figure 22 The destructive device 9 reaches its attack altitude by defect (approximately 2m below the highest point of mine 6), depending on the calculated trajectory bringing it facing the current.
  • the destructive device 9 is locating with marker 13 re-hooks mine 6 with its seeker frontal 21F.
  • Figure 23 The destructive device 9 hooked mine 6 by means of its front seeker 21F. It updates its final trajectory to pass into first of mine 6 facing the current then shoots "on the fly” on the side of mine 6.
  • FIG. 24 illustrates the case of a long-rope mine 6, that is to say of which the immersion is greater than 10 m.
  • the attack strategy being the same as that adopted for the subsurface mine, so it is not redescribed.
EP95935493A 1994-10-28 1995-10-13 Procede et systeme de destruction d'objets sous-marins, notamment de mines sous-marines Expired - Lifetime EP0787095B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR9412956 1994-10-28
FR9412956A FR2726246B1 (fr) 1994-10-28 1994-10-28 Procede et systeme de destruction d'objets sous-marins, notamment de mines sous-marines
PCT/FR1995/001352 WO1996013426A1 (fr) 1994-10-28 1995-10-13 Procede et systeme de destruction d'objets sous-marins, notamment de mines sous-marines

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EP0787095A1 EP0787095A1 (fr) 1997-08-06
EP0787095B1 true EP0787095B1 (fr) 1998-08-05

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US (1) US5844159A (en))
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DE (1) DE69503915T2 (en))
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WO1996013426A1 (fr) 1996-05-09
FR2726246A1 (fr) 1996-05-03
EP0787095A1 (fr) 1997-08-06
FR2726246B1 (fr) 1996-11-29
DE69503915D1 (de) 1998-09-10
DE69503915T2 (de) 1998-12-10
US5844159A (en) 1998-12-01

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