EP1863702A1 - Mine hunting system and mine hunting method - Google Patents
Mine hunting system and mine hunting methodInfo
- Publication number
- EP1863702A1 EP1863702A1 EP06707641A EP06707641A EP1863702A1 EP 1863702 A1 EP1863702 A1 EP 1863702A1 EP 06707641 A EP06707641 A EP 06707641A EP 06707641 A EP06707641 A EP 06707641A EP 1863702 A1 EP1863702 A1 EP 1863702A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- vehicle
- vehicles
- reconnaissance
- mine
- underwater
- 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
Definitions
- the invention relates to a mine hunting system and a method for mine hunting on sea mines.
- a well-known mine hunting system (Buschhorn and Schütz "mine hunting - a modern variant of the mine mine defense", Yearbook of military technology, episode 10, 1976/77, pages 142 to 151) includes a mounted on a surface ship Minenj agdsonar for locating and classification of on the seabed Mining and a guided underwater vehicle, which is suspended from the surface ship and wire steered a mine destruction charge placed next to the mine, which is then blown up by remote ignition of the mine destruction charge.
- the underwater vehicle is driven by electric motors at a low, constant height above the seabed and is guided by means of a transponder by an operator on board the surface ship to the located mine. After stopping the mine destruction load, the underwater vehicle will emerge and be taken back on board before the mine destruction charge is ignited.
- This process of mine clearance is very time consuming especially for the clearing of minefields and can only be done in pacified sea areas in which the surface ship is not exposed to enemy attacks.
- a localization device is arranged, preferably dragged, behind a self-propelled, unmanned platform passing through the body of water whose detection or locating field is perpendicular to the direction of travel of the platform.
- the platform is equipped with a launcher for carrying two transponders.
- the localization device are again arranged at a predetermined distance downstream of a relocation device and a destruction device, which are part of a further platform.
- the following procedure is carried out: Between the ClearAuthisme and relocalization of the mine are set by the launcher, the two transponders on the site of the mine, the transponders have a water depth of about 60m a distance of, for example, 60m to each other. During the relocalization of the mine, the relative position of the mine to the transponders is measured by means of the relocalization device. The determined measurement data are used to activate the destruction device, which then performs the mine destruction.
- a main carrier and a plurality of subcarriers are present.
- the subcarriers are provided with a shear surface and a tail and releasably connected to the main carrier. After separation of the subcarrier from the main carrier, which takes place when driving by means of the shear surfaces, the subcarriers become in one a detection width determining distance to the main carrier, wherein the setting of the detection width during the Räumvorgangs done by lifting or Fieren a cable between the main carrier and the subcarriers.
- transponders are placed on both sides of a road to be cleared on the seabed and measured their position against a towing sonar and a towing vehicle. At the same time, the position of the mine is calculated in a coordinate system related to the transponders. The data are transmitted by the towing vehicle to a guide platform for the ünterwasserdrone, which is brought to the mine with these, related to the transponder data and destroyed the latter.
- the leading vehicle has a processor for the simultaneous generation of signals which in Form and phase are coordinated so that they - exchanged by means of a communication device between the guide boat and sub-vehicles - coordinated control their means of influencing Seeminenzündungssysteme so that they complement their individual effects in relation to the Seeminenzün Positiondsysteme to a specific, resulting effect.
- the invention has for its object to provide a Minenj agdsystem and a method for mine hunting with such a system that is efficient, the mine removal time-saving performs and works covertly, ie can operate under low detection risk in enemy waters.
- Minenj agd Kunststoffe with the features of claim 9 have the advantage that the sea area with remote for a discovery mother ship from which the underwater vehicles are exposed, enlightened, i. searched for mines and can be made mine-free by destruction of the localized mines. Given the size of the swarm of underwater vehicles, even extended minefields can be evacuated in a relatively short time. For smaller minefields it is sufficient to drive over the sea area once, which means a significant gain in time. It is also possible to selectively clear ship passages through a minefield. Since the underwater vehicles drive over the seabed at a relatively short distance, completely or partially flushed mines are still reliably detected in the subsurface.
- the reconnaissance vehicle are arranged in the swarm so that the spanned by the sensors for mine detection search sectors are lined up across the direction of the reconnaissance vehicles gapless or overlapping side by side. As a result of these measures, the once crossed sea area is "captured" by the sensors and checked for existing mines.
- the transverse distance of the reconnaissance vehicles from one another is substantially constant, wherein the current vehicle positions between the reconnaissance vehicles are continuously interchangeable via underwater communication to keep this transverse distance constant.
- the mine hunting method it is not only possible to locate, locate and destroy mines within a single mission trip, but also to carry out mine clearance in two separate mission phases.
- a first mission phase the sea area is only informed about the presence of mines.
- the swarm then contains only reconnaissance vehicles with location sensors that store the location of located mines.
- After return of the underwater vehicles to the mothership can then based on the memory data compiled an enlightened minefield optimally adapted swarm from the space required for rooms number of underwater vehicles and then sent in a second mission phase for mine destruction become.
- both control vehicles and reconnaissance vehicles are included, which lead the control vehicles to the located mines and position there.
- the data exchange between the underwater vehicles taking place by means of underwater communication is carried out by transmitting and receiving data packets.
- a data packet received from an underwater vehicle and not addressed to the underwater vehicle receiving the data packet is sent out again by this underwater vehicle if the extent of the swan is greater than the communication range. This ensures that with limited Communication range, the data packets are passed from underwater vehicle to underwater vehicle, so that the data packet also reaches underwater vehicles, which drive outside the communication range of the data packet emitting underwater vehicle.
- FIG. 2 shows a detail of a top view of the mine hunting system in FIG. 1 with a modification
- Fig. 3 detail a plan view of the mine hunting system at target start of the control vehicle.
- the mine hunting system shown schematically in plan view in FIG. 1 is used for detecting and locating, the so-called. Locating, designed in a sea area mines and the subsequent destruction of the located mines. These mines are located in shallow water areas, usually on the seabed and can sometimes be partially flushed into the seabed.
- a mine 11 is schematically outlined in a sea area 10. With the mines 11 are preferably created minefields to effectively block passageways for ships.
- the Minnejagdsystem has a variety of autonomously acting, small underwater vehicles that drive in the swarm across the sea area 10.
- the Underwater vehicles on the one hand via suitable navigation devices and on the other hand via means for underwater communication, which allow data exchange between the underwater vehicles at least over a short distance.
- the autonomously acting underwater vehicles are subdivided into two groups, of which one group comprises reconnaissance vehicles 12 and the other group combat vehicles 13.
- the reconnaissance vehicles 12 are equipped with sensors 14 for mine detection, while the control vehicles 13 are equipped with an explosive mine destruction charge 17.
- a typical example of a mine location sensor 14 is a well-known mine location sonar located at the head of the reconnaissance vehicle 12.
- the sonar spans a locating sector 15 consisting of a fan of horizontally narrow search beams or beams 16, which are narrow sectors of high reception sensitivity. Within the beams 16 echoes are selectively received, which are generated by acoustically sounded objects, such as mines, by reflection.
- a beam 16 is shown, with which a mine 11 detected and located, ie their position after removal and bearing, for example, in r, ⁇ - coordinates determined.
- the reconnaissance vehicles 12 are arranged so that the spanned by the sensors 14 locating sectors 15 are lined up transversely to the direction of the reconnaissance vehicles 12 gapless or overlapping side by side.
- the transverse distance of the reconnaissance vehicles 12 from one another is kept substantially constant, which is achieved by programming a course presetting in the reconnaissance vehicles 12 and exchanging the position data of the reconnaissance vehicles 12 by constantly exchanging position data via underwater communication. Changes the transverse distance between the reconnaissance vehicles 12 beyond a predetermined tolerance range, so the respective course of the reconnaissance vehicle using the position data of the adjacent reconnaissance vehicles 12 is corrected.
- the group of fighting vehicles 13 is integrated in the swarm so that they belong to the group of
- Reconnaissance vehicles 12 follows at a predetermined distance. Preferably, the distance of the control vehicles 13 is kept small by the reconnaissance vehicles 12.
- the underwater communication between the underwater vehicles 12, 13 is indicated in Fig. 1 by "lightning arrows 18".
- the devices in the underwater vehicles 12, 13 for underwater communication are symbolically indicated at 19. They each have a transmitter, with which data packets are sent out into the medium of water, and a receiver, with which data packets are received from the medium of water.
- the mine hunting is carried out as follows:
- the number of reconnaissance vehicles 12 compiled for mine hunting swarm is adapted to the size of the sea area 10 to be cleared up. In the embodiment of FIG. 1, only three reconnaissance vehicles 12 are shown from the swarm.
- the reconnaissance vehicles 12, a default course is programmed, which is designed so that the reconnaissance vehicles 12 maintain a transverse distance from each other, which ensures that spanned by the sensors 14 for mine detection of Auftechnikungsterrorisme 12 locating sectors 15 across the direction of travel gapless or overlapping next to each other. This transverse distance is monitored during the drive of Schwann and corrected in deviation with the help of the current position data of the reconnaissance vehicles 12, which are exchanged with each other via underwater communication.
- the Group of control vehicles 13 follows the
- Reconnaissance vehicles 12 with a small distance.
- the current positions of the reconnaissance vehicles 12 are also sent to the control vehicles 13, which correct their course according to these data.
- the reconnaissance vehicle 13 selects the control vehicle 13 whose distance from it is the smallest. This control vehicle 13, the position of the mine 11 is transmitted. With this mine position and its own position, the control vehicle 13 determines its course and navigates to the mine using a simple course sensor and an estimated speed through the water
- control vehicle 13 e.g. tracked with the sensor 14, so tracked, and possibly the course of the control vehicle 13 corrected by transmitting current position data of the control vehicle 13.
- the situation of the target start by the control vehicle 13 is sketched in FIG. If the control vehicle 13 has reached the mine 11 and grasped the mine 11 with a sensor 20, it is positioned there and a time fuze for igniting the mine destruction charge 17 is set. The ignition timing is chosen so that the remaining swarm has a sufficiently large distance from the mine-level control vehicle 13, so that when exploding the mine destruction 17 no underwater vehicles are damaged.
- each reconnaissance vehicle 13 may have a reconnaissance vehicle 12 be assigned to.
- the control vehicle 13 follows the associated reconnaissance vehicle 12 at a constant distance.
- the control vehicle 13 with its sensor 20 required for the target vision detects the preceding, assigned reconnaissance vehicle 12 and can then adjust its course to that of the reconnaissance vehicle 12.
- each reconnaissance vehicle 12 is supplied with information about the number and position of the detected mines 11 and the number of currently present in the swarm control vehicles 13. If all the fighting vehicles 13 are destroyed as a result of the demolition of mines 11, the reconnaissance vehicles 12 remaining in the swarm continue to operate only the mine location and return with the information about the number and position of the not yet destroyed mines 11 to the end of the mission. If, during the mission, a mine 11 is inadvertently triggered by a reconnaissance vehicle 12, so that the reconnaissance vehicle 12 is lost, the underwater communication in the swarm recognizes the loss of this reconnaissance vehicle 12. The gap between the locating sectors 15 caused by the lossy reconnaissance vehicle 12 is then closed by a collapse of the reconnaissance vehicles 12 due to course changes of individual submersibles.
- the mine hunting can be divided into two mission phases.
- the first mission phase only reconnaissance is carried out, so that the swarm consists exclusively of reconnaissance vehicles 12.
- the number of required control vehicles 13 Upon return of the reconnaissance vehicles 12 with the information on located mines 11, the number of required control vehicles 13 and compiled this with a number of reconnaissance vehicles 12 to a new swarm.
- the reconnaissance vehicles 12 now have the task of guiding the individual control vehicles 13 to the located mines 11. For this purpose, a smaller number of reconnaissance vehicles 12 is required than for the reconnaissance mission.
- each data packet transmitted by an underwater vehicle has a so-called header which contains a start address, a destination address, an identification and a counter.
- a data packet transmitted by an underwater vehicle is treated differently by the receiving underwater vehicles depending on the range of underwater communication and the extent of the swarm. If the swarm extension is smaller than the communication range, a received data packet whose destination address does not match the address of the receiving submarine vehicle is deleted. If the swarm expansion is greater than the communication range, then this data packet is forwarded, ie sent out again by the receiving underwater vehicle. The counter in the header of the data packet is increased by "1".
- the underwater vehicles receiving this data packet whose addresses do not correspond to the destination address, in turn send out the received data packet, wherein in turn the counter reading is further increased by "1". In this way, it is ensured that also the underwater vehicles that outside the communication range of the data packet sending out Underwater vehicle receive the data packet addressed to them.
- Underwater vehicle does not match (otherwise the data packet would come from the receiving underwater vehicle) or the same data packet from the receiving underwater vehicle has not been sent before (which can be determined by the identification in the header of the data packet) or the data packet with one with the address of the receiving Underwater vehicle 12, 13 matching destination address has been received before or if no errors are detected in the data packet.
- each submersible submits a request for transmission before issuing a data packet.
- This send request consists of a short data sequence and reaches all submarines within communication range.
- the underwater vehicle will "listen” for a certain period of time to ensure that no other submersible is transmitting. After this time, the data packet is sent.
- sending is blocked so that they can receive the advertised data packet. The Wait time for these submersibles is limited to a maximum time so that underwater communication will not be blocked when a send request has been sent but the data packet is missing.
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Medicines Containing Plant Substances (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PL06707641T PL1863702T3 (en) | 2005-03-31 | 2006-03-24 | Mine hunting system and mine hunting method |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102005014555A DE102005014555B4 (en) | 2005-03-31 | 2005-03-31 | Mine hunting system and method for mine hunting |
PCT/EP2006/002704 WO2006103024A1 (en) | 2005-03-31 | 2006-03-24 | Mine hunting system and mine hunting method |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1863702A1 true EP1863702A1 (en) | 2007-12-12 |
EP1863702B1 EP1863702B1 (en) | 2008-11-05 |
Family
ID=36424563
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP06707641A Not-in-force EP1863702B1 (en) | 2005-03-31 | 2006-03-24 | Mine hunting system and mine hunting method |
Country Status (6)
Country | Link |
---|---|
EP (1) | EP1863702B1 (en) |
AT (1) | ATE413326T1 (en) |
DE (2) | DE102005014555B4 (en) |
DK (1) | DK1863702T3 (en) |
PL (1) | PL1863702T3 (en) |
WO (1) | WO2006103024A1 (en) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102009024342B9 (en) * | 2009-06-09 | 2012-01-05 | Atlas Elektronik Gmbh | Method for detecting anomalies on an underwater object |
DE102010056517A1 (en) * | 2010-12-29 | 2012-07-05 | Atlas Elektronik Gmbh | Recognition device and recognition method for detecting an underwater body arranged in a body of water and having a chemical substance, and system with underwater vehicle and recognition device |
DE102011018304A1 (en) * | 2011-02-15 | 2012-08-16 | Atlas Elektronik Gmbh | Unmanned underwater vehicle, replaceable body fixable thereon, unmanned underwater vehicle and replacement body system and method of operating an unmanned underwater vehicle |
DE102012006566A1 (en) * | 2012-03-30 | 2013-10-02 | Atlas Elektronik Gmbh | Method of detecting sea mines and marine detection system |
DE102012008074A1 (en) * | 2012-04-20 | 2013-10-24 | Atlas Elektronik Gmbh | Recovery method for recovering an underwater vehicle, recovery device, submarine with recovery device, underwater vehicle therefor and system therewith |
DE102019201764A1 (en) * | 2019-02-12 | 2020-01-16 | Atlas Elektronik Gmbh | Mine clearance method using an autonomous underwater vehicle |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3922630A (en) * | 1964-12-03 | 1975-11-25 | Us Navy | Automatic vehicle positioning system |
DD301005A7 (en) * | 1979-06-05 | 1992-09-24 | Inst F Technologie Der Polymer | Underwater equipment rack |
DE3609307C1 (en) * | 1986-03-20 | 1987-08-13 | Licentia Gmbh | Methods for detecting and locating, locating, relocating and destroying a mine |
NO902883D0 (en) * | 1990-06-28 | 1990-06-28 | Bentech Subsea As | PROCEDURE AND APPARATUS FOR SEARCHING AN OBJECTS. |
DE4423235C2 (en) * | 1994-07-02 | 1997-05-28 | Alliedsignal Elac Nautik Gmbh | Procedure for locating and clearing sea mines |
DE4438595A1 (en) * | 1994-10-28 | 1996-05-15 | Bundesrep Deutschland | Device for clearing marine mines |
DE10146539B4 (en) * | 2001-09-21 | 2005-02-10 | Bundesrepublik Deutschland, vertreten durch das Bundesministerium der Verteidigung, dieses vertreten durch das Bundesamt für Wehrtechnik und Beschaffung | Method and device for marking surfaces when scanning a body of water |
-
2005
- 2005-03-31 DE DE102005014555A patent/DE102005014555B4/en not_active Expired - Fee Related
-
2006
- 2006-03-24 WO PCT/EP2006/002704 patent/WO2006103024A1/en not_active Application Discontinuation
- 2006-03-24 DE DE502006002008T patent/DE502006002008D1/en active Active
- 2006-03-24 AT AT06707641T patent/ATE413326T1/en not_active IP Right Cessation
- 2006-03-24 DK DK06707641T patent/DK1863702T3/en active
- 2006-03-24 PL PL06707641T patent/PL1863702T3/en unknown
- 2006-03-24 EP EP06707641A patent/EP1863702B1/en not_active Not-in-force
Non-Patent Citations (1)
Title |
---|
See references of WO2006103024A1 * |
Also Published As
Publication number | Publication date |
---|---|
EP1863702B1 (en) | 2008-11-05 |
DE102005014555B4 (en) | 2010-07-29 |
WO2006103024A1 (en) | 2006-10-05 |
PL1863702T3 (en) | 2009-04-30 |
DE102005014555A1 (en) | 2006-10-05 |
DE502006002008D1 (en) | 2008-12-18 |
DK1863702T3 (en) | 2009-01-19 |
ATE413326T1 (en) | 2008-11-15 |
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