EP1863702B1 - Mine hunting system and mine hunting method - Google Patents
Mine hunting system and mine hunting method Download PDFInfo
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- EP1863702B1 EP1863702B1 EP06707641A EP06707641A EP1863702B1 EP 1863702 B1 EP1863702 B1 EP 1863702B1 EP 06707641 A EP06707641 A EP 06707641A EP 06707641 A EP06707641 A EP 06707641A EP 1863702 B1 EP1863702 B1 EP 1863702B1
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- vehicle
- vehicles
- reconnaissance
- mine
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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 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 hunt - a modern variant of the mine mine defense", Yearbook of military technology, episode 10, 1976/77, page 142 to 151 ) comprises a mine hunter sonar installed on a surface ship for locating and classifying ocean floor mines and a remote controlled submersible which, suspended from the surface ship and wire steered, places a mine disposal load adjacent the mine which is then detonated by remote detonation 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 known apparatus for detecting and locating, locating, relocating and destroying a mine located at the bottom of a body of water ( DE 36 09 307 C1 ) is located behind a waters passing through, unmanned platform self-propelled localization device, preferably towed, whose detection or detection 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 several subcarriers available are a main carrier and several subcarriers available.
- 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.
- the leading vehicle has a processor for the simultaneous generation of signals that are matched in form and phase to one another - by means of a communication device between the guide boat and daughter vehicles - coordinated control their means of influencing Seeminenzündsystemen coordinated so that their individual effects in With regard to the marine ejaculatory systems to a specific, resulting effect.
- the invention has for its object to provide a mine hunting system and a method for mine hunting with such a system that is efficient, the mine clearance time-saving and concealed works, i. operate under low detection risk in enemy waters.
- the mine hunting system according to the invention with the features of claim 1 and the mine hunting method according to the invention with the features of claim 9 have the advantage that the sea area with educated 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.
- the sea area with educated for a discovery mother ship from which the underwater vehicles are exposed, enlightened, i. searched for mines can be made mine-free by destruction of the localized mines.
- 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.
- 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 instantaneous positions are constantly exchanged between the swarming underwater vehicles. Furthermore, the position data of located mines as well as the number of currently present in the swarm control vehicles are exchanged between driving in the swarm reconnaissance vehicles. In this way, each reconnaissance vehicle is constantly aware of the current number of control vehicles still available for the destruction of mines, so that after destruction of all combat vehicles remain in the swarm reconnaissance vehicles only clarification and store the position data of the located but not yet destroyed mines and return to the mothership. In addition, after the destruction of all mines still existing control vehicles can be selectively destroyed in the swarm.
- 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 expansion of the swarm 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. 1 The mine hunting system shown schematically in plan view serves to detect and localize, the so-called. Locations, of 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.
- Fig. 1 is schematized a mine 11 in a sea area 10 outlined. With the mines 11 are preferably created minefields to effectively block passageways for ships.
- the Minnejagdsystem has a variety of autonomously acting, small submersibles, which 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 is detected and located, ie its position is determined by distance and bearing, for example in r, ⁇ coordinates.
- the reconnaissance vehicles 12 are arranged so that the detection sectors spanned by the sensors 14 15 are lined up transversely to the direction of the reconnaissance vehicles 12 without gaps 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 combat vehicles 13 is integrated in the swarm so as to follow the group of the reconnaissance vehicles 12 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 in Fig. 1 indicated 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.
- a mine 11 is located by an reconnaissance vehicle 12, then 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 with the help of a simple course sensor and an estimated speed through the water to the mine 11. In this so-called.
- the situation of the target start by the combat vehicle 13 is in Fig. 3 outlined.
- control vehicle 13 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 an 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 fighting vehicles 13. If all the control 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.
- the described forwarding of the data packets whose destination address does not match the address of the receiving underwater vehicle 12, 13 takes place only under special conditions.
- retransmission of the received data packet takes place only when the counter in the header of the data packet has not yet reached the predetermined maximum count or the start address in the data packet does not match the address of the receiving underwater vehicle (otherwise the data packet would come from the receiving underwater vehicle) or the same Data packet from the receiving underwater vehicle has not ever been sent out (which can be determined by the identification in the header of the data packet) or the data packet has already been received with a matching with the address of the receiving underwater vehicle 12, 13 destination address or if no errors in Data packet can be detected.
- 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 "listens" 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.
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Abstract
Description
Die Erfindung betrifft ein Minenjagdsystem und ein Verfahren zur Minenjagd auf Seeminen.The invention relates to a mine hunting system and a method for mine hunting on sea mines.
Ein bekanntes Minenjagdsystem, (
Dieser Ablauf der Minenbeseitigung ist insbesondere für das Räumen von Minenfeldern sehr zeitaufwendig und kann nur in befriedeten Seegebieten, in denen das Überwasserschiff keinen feindlichen Angriffen ausgesetzt ist, durchgeführt werden.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.
Bei einer bekannten Vorrichtung zum Detektieren und Orten, Lokalisieren, Relokalisieren und Vernichten einer Mine, die sich auf dem Grund eines Gewässers befindet,(
Bei einem bekannten Unterwassergeräteträger zum Räumen von Minen, der auch Beobachtungs-, Mess-, Ortungs- und andere Mittel aufweist, (
Bei einem bekannten Verfahren zum Orten und Räumen von Seeminen mit einer Unterwasserdrohne (
Bei einer bekannten Einrichtung zum Räumen von Seeminen mit einem Führungsfahrzeug und einem oder mehreren Tochterfahrzeugen, sog. Hohlstäben, die Mittel zur Beeinflussung von Seeminenzündsystemen tragen, (
Der Erfindung liegt die Aufgabe zugrunde, ein Minenjagdsystem und ein Verfahren zur Minenjagd mit einem solchen System anzugeben, das effizient ist, die Minenbeseitigung zeitsparend durchführt und verdeckt arbeitet, d.h. unter geringer Entdeckungsgefahr in feindlichen Gewässern operieren kann.The invention has for its object to provide a mine hunting system and a method for mine hunting with such a system that is efficient, the mine clearance time-saving and concealed works, i. operate under low detection risk in enemy waters.
Die Aufgabe ist erfindungsgemäß durch die Merkmale im Anspruch 1 und/oder im Anspruch 9 gelöst.The object is achieved by the features in claim 1 and / or in claim 9.
Das erfindungsgemäße Minenjagdsystem mit den Merkmalen des Anspruchs 1 und das erfindungsgemäße Minenjagdverfahren mit den Merkmalen des Anspruchs 9 haben den Vorteil, dass das Seegebiet mit für eine Entdeckung weit abgesetztem Mutterschiff, von dem die Unterwasserfahrzeuge ausgesetzt werden, aufgeklärt, d.h. nach Minen abgesucht und durch Vernichtung der lokalisierten Minen minenfrei gemacht werden kann. Bei entsprechender Größe des Schwarms von Unterwasserfahrzeugen können selbst ausgedehnte Minenfelder in relativ kurzer Zeit geräumt werden. Bei kleineren Minenfeldern genügt ein einmaliges Überfahren des Seegebiets, was einen wesentlichen Zeitgewinn bedeutet. Auch ist es möglich, Schiffsdurchfahrten durch ein Minenfeld gezielt frei zu machen. Da die Unterwasserfahrzeuge mit relativ geringem Abstand über den Meeresboden fahren, werden auch in den Untergrund ganz oder teilweise eingespülte Minen noch zuverlässig detektiert.The mine hunting system according to the invention with the features of claim 1 and the mine hunting method according to the invention with the features of claim 9 have the advantage that the sea area with educated 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.
Zweckmäßige Ausführungsformen des erfindungsgemäßen Minenjagdsystems mit vorteilhaften Weiterbildungen und Ausgestaltungen der Erfindung ergeben sich aus den Ansprüchen 2 bis 8.Advantageous embodiments of the mine hunting system according to the invention with advantageous developments and embodiments of the invention will become apparent from the claims 2 to 8.
Gemäß einer vorteilhaften Ausführungsform der Erfindung sind die Aufklärungsfahrzeug im Schwarm so angeordnet, dass die von den Sensoren zur Minenortung aufgespannten Suchsektoren quer zur Fahrtrichtung der Aufklärungsfahrzeuge lückenlos oder überlappend nebeneinander aufgereiht sind. Durch diese Maßnahmen wird das einmalig überfahrene Seegebiet von den Sensoren lückenlos "erfasst" und auf vorhandene Minen hin überprüft.According to an advantageous embodiment of the invention, 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.
Der Querabstand der Aufklärungsfahrzeuge voneinander ist im wesentlichen konstant, wobei zum Konstanthalten dieses Querabstands die momentanen Fahrzeugpositionen zwischen den Aufklärungsfahrzeugen fortlaufen via Unterwasserkommunikation austauschbar sind.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.
Zweckmäßige Ausführungsformen des erfindungsgemäßen Verfahrens zur Minenjagd mit vorteilhaften Weiterbildungen und Ausgestaltungen der Erfindung ergeben sich aus den weiteren Ansprüchen 10 bis 23.Advantageous embodiments of the inventive method for mine hunting with advantageous developments and refinements of the invention will become apparent from the
Mit dem erfindungsgemäßen Minenjagdverfahren ist es nicht nur möglich, innerhalb einer einzigen Missionsfahrt Minen aufzuspüren, zu lokalisieren und gleichzeitig zu vernichten, sondern auch möglich, die Minenräumung in zwei getrennten Missionsphasen vorzunehmen. Dabei wird in einer ersten Missionsphase das Seegebiet nur bezüglich des Vorhandenseins von Minen aufgeklärt. Der Schwarm enthält dann nur Aufklärungsfahrzeuge mit Ortungssensoren, die die Lage georteter Minen abspeichern. Nach Rückkehr der Unterwasserfahrzeuge zu dem Mutterschiff kann dann anhand der Speicherdaten ein dem aufgeklärten Minenfeld optimal angepasster Schwarm aus der zum Räumen notwendigen Anzahl von Unterwasserfahrzeugen zusammengestellt und dann in einer zweiten Missionsphase zur Minenvernichtung ausgeschickt werden. Im Schwarm sind dann sowohl Bekämpfungsfahrzeuge als auch Aufklärungsfahrzeuge enthalten, die die Bekämpfungsfahrzeuge zu den georteten Minen führen und dort positionieren.With the mine hunting method according to the invention, 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. In 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. In the swarm then both control vehicles and reconnaissance vehicles are included, which lead the control vehicles to the located mines and position there.
Gemäß einer vorteilhaften Ausführungsform des Verfahrens werden zwischen den im Schwarm fahrenden Unterwasserfahrzeugen deren momentane Positionen ständig ausgetauscht. Des weiteren werden zwischen den im Schwarm fahrenden Aufklärungsfahrzeugen die Positionsdaten georteter Minen sowie die Zahl der aktuell im Schwarm vorhandenen Bekämpfungsfahrzeuge ausgetauscht. Auf diese Weise ist jedem Aufklärungsfahrzeug ständig die aktuelle Zahl der für die Minenvernichtung noch verfügbaren Bekämpfungsfahrzeuge bekannt, so dass nach Zerstörung aller Bekämpfungsfahrzeuge die im Schwarm verbliebenen Aufklärungsfahrzeuge nur Aufklärung vornehmen und die Positionsdaten der georteten, aber noch nicht vernichteten Minen abspeichern und zum Mutterschiff zurückkehren. Außerdem können die nach Vernichtung aller Minen noch vorhandenen Bekämpfungsfahrzeuge im Schwarm gezielt zerstört werden.According to an advantageous embodiment of the method, the instantaneous positions are constantly exchanged between the swarming underwater vehicles. Furthermore, the position data of located mines as well as the number of currently present in the swarm control vehicles are exchanged between driving in the swarm reconnaissance vehicles. In this way, each reconnaissance vehicle is constantly aware of the current number of control vehicles still available for the destruction of mines, so that after destruction of all combat vehicles remain in the swarm reconnaissance vehicles only clarification and store the position data of the located but not yet destroyed mines and return to the mothership. In addition, after the destruction of all mines still existing control vehicles can be selectively destroyed in the swarm.
Gemäß einer vorteilhaften Ausführungsform des Verfahrens wird der mittels Unterwasserkommunikation erfolgende Datenaustausch zwischen den Unterwasserfahrzeugen über durch Aussenden und Empfangen von Datenpaketen durchgeführt.According to an advantageous embodiment of the method, the data exchange between the underwater vehicles taking place by means of underwater communication is carried out by transmitting and receiving data packets.
Gemäß einer vorteilhaften Ausführungsform des Verfahrens wird dabei ein von einem Unterwasserfahrzeug empfangenes Datenpaket, das nicht an das das Datenpaket empfangende Unterwasserfahrzeug adressiert ist, von diesem Unterwasserfahrzeug wieder ausgesendet, wenn die Ausdehnung des Schwarms größer ist als die Kommunikationsreichweite. Damit wird sichergestellt dass bei begrenzter Kommunikationsreichweite die Datenpakete von Unterwasserfahrzeug zu Unterwasserfahrzeug weitergereicht werden, so dass das Datenpaket auch an Unterwasserfahrzeuge gelangt, die außerhalb der Kommunikationsreichweite des das Datenpaket aussendenden Unterwasserfahrzeugs fahren.In accordance with an advantageous embodiment of the method, 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 expansion of the swarm 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.
Die Erfindung ist anhand eines in der Zeichnung illustrierten Ausführungsbeispiels im folgenden näher beschrieben. Es zeigen jeweils in schematischer Darstellung:
- Fig. 1
- ein Minenjagdsystem in Draufsicht,
- Fig. 2
- ausschnittweise eine Draufsicht des Minenjagdsystems in
Fig. 1 mit einer Modifizierung, - Fig. 3
- ausschnittweise eine Draufsicht des Minenjagdsystems bei Zielanlauf des Bekämpfungsfahrzeugs.
- Fig. 1
- a mine hunting system in plan view,
- Fig. 2
- a detail of a top view of the mine hunting system in
Fig. 1 with a modification, - Fig. 3
- a detail of a top view of the mine hunting system at target start of the combat vehicle.
Das in
Das Minnejagdsystem weist eine Vielzahl von autonom agierenden, kleinen Unterwasserfahrzeugen auf, die im Schwarm über das Seegebiet 10 fahren. Hierzu verfügen die Unterwasserfahrzeuge einerseits über geeignete Navigationseinrichtungen und andererseits über Einrichtungen zur Unterwasserkommunikation, die ein Datenaustausch zwischen den Unterwasserfahrzeuge zumindest über eine kurze Distanz ermöglichen. Die autonom agierenden Unterwasserfahrzeuge sind in zwei Gruppen unterteilt, von denen die eine Gruppe Aufklärungsfahrzeuge 12 und die andere Gruppe Bekämpfungsfahrzeuge 13 umfasst. Die Aufklärungsfahrzeuge 12 sind mit Sensoren 14 zur Minenortung ausgerüstet, während die Bekämpfungsfahrzeuge 13 mit einer explosiven Minenvernichtungsladung 17 ausgestattet sind. Ein typisches Beispiel für einen Minenortungssensor 14 ist ein ansich bekanntes Minenortungssonar, das am Kopf des Aufklärungsfahrzeugs 12 angeordnet ist. Das Sonar spannt einen Ortungssektor 15 auf, der aus einem Fächer aus horizontal schmalen Suchstrahlen oder Beams 16, das sind schmale Sektoren hoher Empfangsempfindlichkeit, besteht. Innerhalb der Beams 16 werden Echos selektiv empfangen, die von akustisch beschallten Objekten, wie Minen, durch Reflexion erzeugt werden. In
Mit einem solchen Minenjagdsystem wird die Minenjagd wie folgt durchgeführt:
- Die Zahl der zum Minenjagdschwarm zusammengestellten Aufklärungsfahrzeuge 12 wird an die Größe des aufzuklärenden Seegebiets 10 angepasst. Im Ausführungsbeispiel der
Fig. 1 sind aus dem Schwarm nur drei Aufklärungsfahrzeuge 12 dargestellt.Den Aufklärungsfahrzeugen 12 wird ein Vorgabekurs einprogrammiert, der so ausgelegt ist, dass dieAufklärungsfahrzeuge 12 einen Querabstand voneinander einhalten, der gewährleistet, dass dievon den Sensoren 14 zur Minendetektion der Aufklärungsfahrzeuge 12 aufgespannten Ortungssektoren 15 quer zur Fahrtrichtung lückenlos oder sich überlappend nebeneinanderliegen. Dieser Querabstand wird während der Fahrt des Schwarms überwacht und bei Abweichung mit Hilfe der momentanen Positionsdaten der Aufklärungsfahrzeuge 12, die untereinander via Unterwasserkommunikation ausgetauscht werden, korrigiert. Die Gruppe der Bekämpfungsfahrzeuge 13folgt den Aufklärungsfahrzeugen 12 mit geringem Abstand. Hierzu werden die Momentanpositionen der Aufklärungsfahrzeuge 12 auch andie Bekämpfungsfahrzeuge 13 gesendet, die nach diesen Daten ihren Kurs korrigieren.
- The number of
reconnaissance vehicles 12 compiled for mine hunting swarm is adapted to the size of thesea area 10 to be cleared up. In the embodiment ofFig. 1 only threereconnaissance vehicles 12 are shown from the swarm. Thereconnaissance vehicles 12, a default course is programmed, which is designed so that thereconnaissance vehicles 12 maintain a transverse distance from each other, which ensures that the spanned by thesensors 14 for mine detection ofreconnaissance vehicles 12detection sectors 15 transverse to the direction of travel gapless or overlapping next to each other. This transverse distance is monitored during the drive of the swarm and corrected in deviation with the help of the current position data of thereconnaissance vehicles 12, which are exchanged with each other via underwater communication. The Group ofcombat vehicles 13 follows thereconnaissance vehicles 12 at a small distance. For this purpose, the current positions of thereconnaissance vehicles 12 are also sent to thecontrol vehicles 13, which correct their course according to these data.
Wird von einem Aufklärungsfahrzeug 12 eine Mine 11 geortet, so wird von dem Aufklärungsfahrzeug 12 aus der Gruppe der Bekämpfungsfahrzeuge 13 dasjenige Bekämpfungsfahrzeug 13 ausgewählt dessen Entfernung von ihm am kleinsten ist. Diesem Bekämpfungsfahrzeug 13 wird die Position der Mine 11 übermittelt. Mit dieser Minenposition und seiner Eigenposition ermittelt das Bekämpfungsfahrzeug 13 seinen Kurs und navigiert mit Hilfe eines einfaches Kurssensors und einer geschätzten Geschwindigkeit durchs Wasser zu der Mine 11. Bei diesem sog. Zielanlauf des Bekämpfungsfahrzeugs 13 wird das Bekämpfungsfahrzeug 13 von dem Aufklärungsfahrzeug 12, z.B. mit dessen Sensor 14 getrackt, also verfolgt, und ggf. der Kurs des Bekämpfungsfahrzeugs 13 durch Übersenden von momentanen Positionsdaten des Bekämpfungsfahrzeugs 13 korrigiert. Die Situation des Zielanlaufs durch das Bekämpfungsfahrzeug 13 ist in
Wie in
Durch die bestehende Unterwasserkommunikation innerhalb des Schwarms wird jedes Aufklärungsfahrzeug 12 mit Informationen über Anzahl und Position der detektierten Minen 11 sowie über die Anzahl der noch aktuell im Schwarm vorhandenen Bekämpfungsfahrzeuge 13 versorgt. Sind alle Bekämpfungsfahrzeuge 13 infolge Sprengung von Minen 11 zerstört, so betreiben die im Schwarm verbleibenden Aufklärungsfahrzeuge 12 lediglich die Minenortung weiter und kehren mit den Informationen über die Anzahl und Position der noch nicht vernichteten Minen 11 nach Missionsende zurück. Wird während der Mission eine Mine 11 durch ein Aufklärungsfahrzeug 12 versehentlich ausgelöst, so dass das Aufklärungsfahrzeug 12 verlorengeht, wird durch die Unterwasserkommunikation im Schwarm der Verlust dieses Aufklärungsfahrzeugs 12 erkannt. Die durch das verlustige Aufklärungsfahrzeug 12 entstandene Lücke zwischen den Ortungssektoren 15 wird dann durch ein Zusammenrücken der Aufklärungsfahrzeuge 12 geschlossen, was durch Kursänderungen von einzelnen Unterwasserfahrzeugen erfolgt.Due to the existing underwater communication within the swarm each
In einer Abwandlung des erfindungsgemäßen Verfahrens kann die Minenjagd in zwei Missionsphasen aufgeteilt werden. In der ersten Missionsphase wird nur Aufklärung betrieben, so dass der Schwarm ausschließlich aus Aufklärungsfahrzeugen 12 besteht. Nach Rückkehr der Aufklärungsfahrzeuge 12 mit den Informationen über geortete Minen 11 wird die Anzahl der erforderlichen Bekämpfungsfahrzeuge 13 bestimmt und diese mit einer Anzahl von Aufklärungsfahrzeugen 12 zu einem neuen Schwarm zusammengestellt. Die Aufklärungsfahrzeuge 12 haben nunmehr die Aufgabe, die einzelnen Bekämpfungsfahrzeuge 13 zu den georteten Minen 11 zu führen. Hierfür ist eine geringere Anzahl von Aufklärungsfahrzeugen 12 erforderlich als für die Aufklärungsmission.In a modification of the method according to the invention, the mine hunting can be divided into two mission phases. In the first mission phase, only reconnaissance is carried out, so that the swarm consists exclusively of
Bei der Unterwasserkommunikation zwischen den Unterwasserfahrzeugen werden Datenpakete ausgetauscht, wobei die Datenpakete jeweils an bestimmte Unterwasserfahrzeuge adressiert werden. Jedes von einem Unterwasserfahrzeug ausgesendete Datenpaket weist einen sog. Header auf, der eine Startadresse, eine Zieladresse, eine Identifikation und einen Zähler enthält. Ein von einem Unterwasserfahrzeug ausgesendetes Datenpaket wird in Abhängigkeit von der Reichweite der Unterwasserkommunikation und der Ausdehnung des Schwarms von den empfangenden Unterwasserfahrzeugen unterschiedlich behandelt. Ist die Schwarmausdehnung kleiner als die Kommunikationsreichweite, so wird ein empfangenes Datenpaket, dessen Zieladresse nicht mit der Adresse des empfangenden Unterwasserfahrzeugs übereinstimmt, gelöscht. Ist die Schwarmausdehnung größer als die Kommunikationsreichweite, so wird dieses Datenpaket weitergeleitet, also von dem empfangenden Unterwasserfahrzeug wieder ausgesendet. Dabei wird der Zähler im Header des Datenpakets um "1" erhöht. Die dieses Datenpaket empfangenden Unterwasserfahrzeuge, deren Adressen nicht mit der Zieladresse übereinstimmen, senden wiederum das empfangene Datenpaket aus, wobei wiederum der Zählerstand jeweils um "1" weiter erhöht wird. Auf diese Weise ist sichergestellt, dass auch die Unterwasserfahrzeuge, die außerhalb der Kommunikationsreichweite des das Datenpaket aussendenden Unterwasserfahrzeugs liegen, das an sie adressierte Datenpaket empfangen.In the underwater communication between the underwater vehicles data packets are exchanged, the data packets are each addressed to specific underwater vehicles. 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.
Um das Übertragungsmedium Wasser nicht mit Datenpaketen zu überfrachten, erfolgt die beschriebene Weiterleitung der Datenpakete, deren Zieladresse nicht mit der Adresse des empfangenden Unterwasserfahrzeugs 12, 13 übereinstimmen, nur unter besonderen Voraussetzungen. So erfolgt ein Wiederaussenden des empfangenen Datenpakets nur, wenn der Zähler im Header des Datenpakets noch nicht den vorgegebenen maximalen Zählerstand erreicht hat oder die Startadresse im Datenpaket mit der Adresse des empfangenden Unterwasserfahrzeugs nicht übereinstimmt (andernfalls würde das Datenpaket von dem empfangenden Unterwasserfahrzeug stammen) oder dasselbe Datenpaket von dem empfangenden Unterwasserfahrzeug nicht schon einmal ausgesendet worden ist (was anhand der Identifikation im Header des Datenpakets festgestellt werden kann) oder das Datenpaket mit einer mit der Adresse des empfangenden Unterwasserfahrzeugs 12, 13 übereinstimmenden Zieladresse schon einmal empfangen worden ist oder wenn keine Fehler im Datenpaket erkannt werden.In order not to overload the transmission medium water with data packets, the described forwarding of the data packets whose destination address does not match the address of the receiving
Zur Vermeidung von Datenkollision beim Senden sendet jedes Unterwasserfahrzeug vor Absetzen eines Datenpakets eine Anforderung zum Senden aus. Diese Sendeanforderung besteht aus einer kurzen Datensequenz und erreicht alle in Kommunikationsreichweite befindlichen Unterwasserfahrzeuge. Im Anschluss an das Aussenden dieser Sendeanforderung "horcht" das Unterwasserfahrzeug eine bestimmte Zeitspanne, um sicherzustellen, dass kein weiteres Unterwasserfahrzeug sendet. Nach Ablauf dieser Zeitspanne wird das Datenpaket gesendet. Bei allen Unterwasserfahrzeugen die diese Sendeanforderung erhalten haben, ist das Senden blockiert, so dass sie das angekündigte Datenpaket empfangen können. Die Wartezeit für diese Unterwasserfahrzeuge ist auf eine maximale Zeit begrenzt, damit die Unterwasserkommunikation nicht blockiert bleibt, wenn eine Sendeanforderung gesendet wurde, aber das Datenpaket ausbleibt.To avoid data collision during transmission, 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. Subsequent to sending this broadcast request, the underwater vehicle "listens" for a certain period of time to ensure that no other submersible is transmitting. After this time, the data packet is sent. For all submersibles that have received this send request, 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.
Claims (23)
- Mine hunting system for tracing and attacking mines (11) which have been laid in a sea region (10) using underwater vehicles which move in a group, at least one of which is a reconnaissance vehicle (12), which is equipped with sensors (14) for mine location and at least a further one of which is an attack vehicle (13) which is equipped with a mine destruction charge (17) and follows the at least one reconnaissance vehicle (12) at a distance, characterized in that a plurality of reconnaissance and attack vehicles (12, 13) which are equipped with devices (19) for underwater communication and act autonomously form a swarm travelling through the sea region (10), and in that one reconnaissance vehicle (12) in the swarm can select one of the attack vehicles (13) from the swarm via underwater communication, and can position it at the location of a mine (11) that has been found.
- Mine hunting system according to Claim 1, characterized in that the number of underwater vehicles moving in the swarm is matched to the size of the sea region (10) to be searched.
- Mine hunting system according to Claim 1 or 2, characterized in that reconnaissance vehicles (12) are arranged in the swarm such that location sectors (15) which are covered by the sensors (14) are arranged in rows without any gaps or overlapping alongside one another, transversely with respect to the direction of movement of the reconnaissance vehicles (12).
- Mine hunting system according to Claim 3, characterized in that the lateral distance between the reconnaissance vehicles (12) in the swarm is essentially constant, and in that, in order to keep the lateral distance constant, the position data of the reconnaissance vehicles (12) can be interchanged between the reconnaissance vehicles (12) via underwater communication.
- Mine hunting system according to one of Claims 1 to 4, characterized in that attack vehicles (13) are integrated as a group in the swarm such that they follow the group of reconnaissance vehicles (12), preferably at a short distance.
- Mine hunting system according to one of Claims 1 to 4, characterized in that each attack vehicle (13) is assigned a reconnaissance vehicle (12), and the attack vehicle (13) follows the assigned reconnaissance vehicle (12), preferably at a constant distance.
- Mine hunting system according to one of Claims 1 to 6, characterized in that the attack vehicles are equipped with sensors (20) for target acquisition.
- Mine hunting system according to one of Claims 1 to 7, characterized in that the attack vehicles (13) are equipped with variable time fuzes for the mine destruction charge (17).
- Method for tracing and attacking mines (11) which have been laid in a sea region (10), in which the mines (11) are located and located mines (11) are attacked by means of underwater vehicles moving through the sea region (10), with location and attack being carried out by different underwater vehicles, characterized in that the process of moving through the sea region (10) in a swarm composed of autonomously acting reconnaissance vehicles (12), which are each equipped with sensors (14) for mine location, and of autonomously acting attack vehicles (13), which are each equipped with a mine destruction charge (17) and follow the reconnaissance vehicles (12) is carried out by interchanging data by means of underwater communication between the underwater vehicles which are moving in the swarm, and in that a reconnaissance vehicle (12) in the swarm selects one attack vehicle (13) from the swarm, and positions it at the location of a mine (11) that has been found.
- Method according to Claim 9, characterized in that, during the selection process, the attack vehicle (13) which is selected is that which is closest to the selected reconnaissance vehicle (12).
- Method according to Claim 9 or 10, characterized in that, in order to position the attack vehicle (13) at the mine location, the position data of the mine (11) is preset for the selected attack vehicle (13) from the reconnaissance vehicle (12).
- Method according to one of Claims 9 to 11, characterized in that, during positioning of the attack vehicle (13) at the mine location, the attack vehicle (13) is tracked from the reconnaissance vehicle (12) and if necessary its course is corrected.
- Method according to one of Claims 9 to 12, characterized in that the mine destruction charge (17) in the attack vehicle (13) that has been positioned is fired by means of a time fuze which is installed in the attack vehicle (13), once a predetermined time interval after positioning has elapsed.
- Method according to one of Claims 9 to 13, characterized in that the reconnaissance vehicles (12) move at a lateral distance from one another in the swarm and are controlled such that the location sensors (15) which are covered by the sensors (14) are arranged without any gaps or overlapping alongside one another transversely with respect to the movement direction.
- Method according to Claim 14, characterized in that the lateral distance between the reconnaissance vehicles (12) in the swarm is kept largely constant by programming a preset course and by interchanging position data between the reconnaissance vehicles (12), with this position data being used for course correction.
- Method according to one of Claims 9 to 15, characterized in that the number of reconnaissance vehicles (12) moving in the swarm is matched to the size of the sea region (10) to be searched.
- Method according to one of Claims 9 to 16, characterized in that each attack vehicle (13) is assigned a reconnaissance vehicle (12), and in that the attack vehicle (13) follows the assigned reconnaissance vehicle (12) at a preferably constant distance.
- Method according to one of Claims 9 to 17, characterized in that the current positions of the underwater vehicles are exchanged between them and the position data relating to the mines (11) that have been found, as well as the number of attack vehicles (13) which are currently available in the swarm are interchanged between the reconnaissance vehicles (12).
- Method according to one of Claims 9 to 18, characterized in that the data is interchanged between the underwater vehicles by transmission and reception of data packets.
- Method according to Claim 19, characterized in that a data packet which has been received by an underwater vehicle and is not addressed to the underwater vehicle which has received that data packet is transmitted again by this underwater vehicle if the extent of the swarm is greater than the communication range.
- Method according to Claim 20, characterized in that each data packet which is transmitted by an underwater vehicle is provided with a header which has a start address, a destination address and a counter, and in that a data packet which is received by an underwater vehicle is transmitted by that underwater vehicle again only if the counter has not yet reached the predetermined maximum count or the start address does not match the address of the receiving underwater vehicle, or the same data packet has not already been transmitted once by the receiving underwater vehicle, or the data packet has already been received once with a destination address which matches the address of the receiving underwater vehicle, or no error is identified in the data packet.
- Method according to one of Claims 19 to 21, characterized in that, before each transmission of a data packet by an underwater vehicle, the underwater vehicle sends a request to transmit and, once a time interval after the transmission request has elapsed, a check is carried out to confirm that no other underwater vehicle is transmitting.
- Method according to Claim 22, characterized in that the transmission of data packets is blocked for a predetermined waiting time in all underwater vehicles which have received a transmission request.
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)
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EP1863702A1 EP1863702A1 (en) | 2007-12-12 |
EP1863702B1 true EP1863702B1 (en) | 2008-11-05 |
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Application Number | Title | Priority Date | Filing Date |
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EP06707641A Not-in-force EP1863702B1 (en) | 2005-03-31 | 2006-03-24 | Mine hunting system and mine hunting method |
Country Status (6)
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EP (1) | EP1863702B1 (en) |
AT (1) | ATE413326T1 (en) |
DE (2) | DE102005014555B4 (en) |
DK (1) | DK1863702T3 (en) |
PL (1) | PL1863702T3 (en) |
WO (1) | WO2006103024A1 (en) |
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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 |
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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 PL PL06707641T patent/PL1863702T3/en unknown
- 2006-03-24 EP EP06707641A patent/EP1863702B1/en not_active Not-in-force
- 2006-03-24 DE DE502006002008T patent/DE502006002008D1/en active Active
- 2006-03-24 WO PCT/EP2006/002704 patent/WO2006103024A1/en not_active Application Discontinuation
- 2006-03-24 AT AT06707641T patent/ATE413326T1/en not_active IP Right Cessation
- 2006-03-24 DK DK06707641T patent/DK1863702T3/en active
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DK1863702T3 (en) | 2009-01-19 |
DE102005014555A1 (en) | 2006-10-05 |
EP1863702A1 (en) | 2007-12-12 |
PL1863702T3 (en) | 2009-04-30 |
WO2006103024A1 (en) | 2006-10-05 |
DE502006002008D1 (en) | 2008-12-18 |
ATE413326T1 (en) | 2008-11-15 |
DE102005014555B4 (en) | 2010-07-29 |
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