EP2708460A1 - Functional system with air/water medium change, in particular such as an underwater countermeasure intended for being launched in particular from a surface vessel - Google Patents

Functional system with air/water medium change, in particular such as an underwater countermeasure intended for being launched in particular from a surface vessel Download PDF

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Publication number
EP2708460A1
EP2708460A1 EP13183509.2A EP13183509A EP2708460A1 EP 2708460 A1 EP2708460 A1 EP 2708460A1 EP 13183509 A EP13183509 A EP 13183509A EP 2708460 A1 EP2708460 A1 EP 2708460A1
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Prior art keywords
bag
air
valves
launched
countermeasure
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Granted
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EP13183509.2A
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German (de)
French (fr)
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EP2708460B1 (en
Inventor
Patrick Jaubert
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Naval Group SA
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DCNS SA
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B22/00—Buoys
    • B63B22/003—Buoys adapted for being launched from an aircraft or water vehicle;, e.g. with brakes deployed in the water
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B22/00—Buoys
    • B63B22/22—Inflatable buoys with gas generating means
    • 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
    • B63G9/00—Other offensive or defensive arrangements on vessels against submarines, torpedoes, or mines
    • B63G9/02—Means for protecting vessels against torpedo attack
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
    • F41H11/00—Defence installations; Defence devices
    • F41H11/02—Anti-aircraft or anti-guided missile or anti-torpedo defence installations or systems

Definitions

  • the present invention relates to a functional system with air / water medium change such as in particular submarine countermeasure intended to be shot or launched, in particular from a surface vessel.
  • launchers that can be in various forms such as for example in the form of pneumatic launchers, pyrotechnic launchers, etc ...
  • This buoy is then for example in the form of an air bag attached to one end of a body of the countermeasure system and, before launching, this bag is empty and is folded into a subset of this system. countermeasure.
  • the inflation of the buoy is triggered and usually uses means forming a hot or cold gas generator associated with this buoy.
  • hot gas generator means consists for example in triggering the operation of a pyrotechnic charge associated with the buoy and releasing a mass of gas sufficient to inflate it.
  • Cold gas generators are based on the use of a capacity filled with a gas under pressure, and connected to the buoy for example by a valve type system controlled by an electrical signal or a pyrotechnic actuator, etc., which should be controlled to cause the buoy to inflate after the system is launched.
  • the object of the invention is therefore to solve these problems.
  • the subject of the invention is a functional system with a change of air / water medium such as, in particular, submarine countermeasure intended to be launched in particular from a surface building, of the type comprising an associated counter-measurement body.
  • an inflatable bag characterized in that it comprises means for inflating air intake bag, biased in the open position at the launch thereof and in that these air intakes are associated with means of closure, once the system is launched and the bag inflated.
  • This system has for example a generally cylindrical shape and is for example intended to be launched or fired including from a surface vessel, to protect or defend it against threats constituted by submarine weapons such as for example torpedoes or others, in a conventional manner.
  • this counter-measurement system then comprises a body or base, designated by the general reference 2 in this figure, and associated with an inflatable bag designated by the general reference 3.
  • this inflatable bag 3 is for example fixed on the rear part of the body 2 of the system, for example at the end thereof and makes it possible to ensure better stability in flight and a buoyancy of the counter system. measure during and after launch.
  • the countermeasure system also comprises inflating air intake means of the bag 3 at its launch, these air intake means being for example designated by the general reference 4 and 5 on this Fig.
  • Such air intake means are for example regularly distributed around the body 2 of the countermeasure system.
  • each air intake 4 or 5 comprises for example a valve hinged to the rest of the body 2, and biased in the open position of the corresponding air intake 4 or 5, by resilient means such as for example a helical spring respectively 6 or 7 in the figure, associated with means of articulation of the valves 8 and 9 on the rest of the body 1 of the countermeasure system.
  • valves 8 and 9 in the open position, indeed guide the air into the air intakes to inflate the bag 3, during the flight phase of the system.
  • the bottom of this bag 3 designated for example by the general reference 10 in this figure, is associated by connecting means of any appropriate type, designated by the general reference 11 in this figure, to the valves 8 and 9 air intakes 4 and 5, to move these flaps in the closed position of the air intakes when the bag is sufficiently inflated.
  • the connecting means 11 comprise, for example, a traction cable whose one end is hooked to the bottom 10 of the bag 3 and whose other end has two branches each connected to one of the valves 8 and 9 of one of the air intakes 4 and 5.
  • this system has a certain number of advantages over systems of the state of the art, in particular, on the one hand, the security of storage, operation and launching of the countermeasure system according to the invention and secondly, the reliability of it.

Abstract

The system (1) has a countermeasure body (2) associated with an airbag (3), and air inlets (4, 5) inflating the bag biased in an opening position during launching of the system. The inlets are associated with closing units after launching of the system and the bag. The inlets comprise valves (8, 9) articulated on remaining portion of the system and biased in the opening position of the inlets by helical springs (6, 7). The valves are connected to bottom (10) of the bag by connection units (11) to start displacement of the valves for closing the inlets relative to a bias of the springs.

Description

La présente invention concerne un système fonctionnel à changement de milieu air/eau tel que notamment de contre mesure sous marine destiné à être tiré ou lancé notamment à partir d'un bâtiment de surface.The present invention relates to a functional system with air / water medium change such as in particular submarine countermeasure intended to be shot or launched, in particular from a surface vessel.

II existe déjà dans l'état de la technique, des systèmes de contre mesure de ce type, qui sont destinés à assurer la protection et la défense par exemple d'un bâtiment de surface, face à des menaces représentées par exemple par des armes sous marines telles que des torpilles.Countermeasures systems of this type already exist in the state of the art, which are intended to ensure the protection and defense, for example, of a surface vessel against threats represented for example by marines such as torpedoes.

On pourra par exemple se reporter aux documents FR A 2 431 419 et 2 450 193 pour des exemples de réalisation de ce type de systèmes.For example, we can refer to the documents FR A 2,431,419 and 2,450,193 for example embodiments of this type of system.

Ces systèmes de contre mesure sont alors lancés ou tirés depuis la plate forme navale de surface, par des lanceurs qui peuvent se présenter sous différentes formes comme par exemple sous la forme de lanceurs pneumatiques, de lanceurs pyrotechniques, etc...These countermeasure systems are then launched or fired from the surface naval platform, by launchers that can be in various forms such as for example in the form of pneumatic launchers, pyrotechnic launchers, etc ...

Pour assurer leur stabilité en vol et leur flottabilité dans l'eau, ces systèmes de contre mesure sont équipés d'une bouée gonflable également appelée « sac gonflable » dans la suite de la présente description.To ensure their stability in flight and their buoyancy in the water, these countermeasure systems are equipped with an inflatable buoy also called "air bag" in the following description.

Cette bouée se présente alors par exemple sous la forme d'un sac gonflable accroché à une extrémité d'un corps du système de contre mesure et, avant lancement, ce sac est donc vide et est replié dans un sous-ensemble de ce système de contre mesure.This buoy is then for example in the form of an air bag attached to one end of a body of the countermeasure system and, before launching, this bag is empty and is folded into a subset of this system. countermeasure.

Après lancement de ce système de contre mesure, le gonflage de la bouée est déclenché et fait généralement appel à des moyens formant générateur de gaz chauds ou froids associés à cette bouée.After launching this counter-measurement system, the inflation of the buoy is triggered and usually uses means forming a hot or cold gas generator associated with this buoy.

L'emploi de moyens formant générateur de gaz chauds consiste par exemple à déclencher le fonctionnement d'une charge pyrotechnique associée à la bouée et dégageant une masse de gaz suffisante pour gonfler celle-ci.The use of hot gas generator means consists for example in triggering the operation of a pyrotechnic charge associated with the buoy and releasing a mass of gas sufficient to inflate it.

Les générateurs de gaz froids sont quant à eux basés sur l'utilisation d'une capacité remplie d'un gaz sous pression, et raccordée à la bouée par exemple par un système de type à vanne commandée par un signal électrique ou un actionneur pyrotechnique, etc..., qu'il convient alors de commander afin de provoquer le gonflage de la bouée après le lancement du système.Cold gas generators are based on the use of a capacity filled with a gas under pressure, and connected to the buoy for example by a valve type system controlled by an electrical signal or a pyrotechnic actuator, etc., which should be controlled to cause the buoy to inflate after the system is launched.

On conçoit cependant que tous ces systèmes de contre mesure connus présentent un certain nombre d'inconvénients notamment au niveau des risques de déclenchement intempestif, c'est-à-dire avant le lancement du système de contre mesure, de la charge de gonflage de la bouée.It should be understood, however, that all these known counter-measurement systems have a certain number of disadvantages, in particular with regard to the risks of inadvertent tripping, ie before launching the counter-measurement system, of the inflation load of the buoy.

D'autres inconvénients comme par exemple l'obligation d'une maintenance régulière et donc coûteuse peuvent également être mis en avant.Other disadvantages such as the obligation of regular maintenance and therefore expensive can also be put forward.

Le but de l'invention est donc de résoudre ces problèmes.The object of the invention is therefore to solve these problems.

A cet effet l'invention a pour objet un système fonctionnel à changement de milieu air/eau tel que notamment de contre mesure sous marine destiné à être lancé notamment à partir d'un bâtiment de surface, du type comportant un corps de contre mesure associé à un sac gonflable, caractérisé en ce qu'il comporte des moyens formant prise d'air de gonflage du sac, sollicités en position d'ouverture lors du lancement de celui-ci et en ce que ces prises d'air sont associées à des moyens de fermeture, une fois le système lancé et le sac gonflé.For this purpose, the subject of the invention is a functional system with a change of air / water medium such as, in particular, submarine countermeasure intended to be launched in particular from a surface building, of the type comprising an associated counter-measurement body. to an inflatable bag, characterized in that it comprises means for inflating air intake bag, biased in the open position at the launch thereof and in that these air intakes are associated with means of closure, once the system is launched and the bag inflated.

Suivant d'autres caractéristiques du système selon l'invention, prises seules ou en combinaison :

  • les moyens formant prise d'air comportent des clapets articulés sur le reste du système et sollicités en position d'ouverture des moyens formant prise d'air par des moyens élastiques, une fois le système lancé ;
  • les moyens élastiques de sollicitation des clapets comprennent des ressorts hélicoïdaux ;
  • les clapets des moyens formant prise d'air, sont raccordés par des moyens de liaison, au fond du sac, pour déclencher leur déplacement et donc la fermeture des prises d'air, une fois le sac gonflé, à l'encontre de la sollicitation des moyens élastiques ; et
  • les moyens de liaison comprennent au moins un câble de traction dont une extrémité est accrochée sur le fond du sac et dont l'autre extrémité est accrochée sur les clapets.
According to other features of the system according to the invention, taken alone or in combination:
  • the air intake means comprise valves articulated on the rest of the system and biased in the open position of the air intake means by elastic means, once the system is launched;
  • the elastic means for biasing the valves comprise helical springs;
  • the valves of the air intake means, are connected by connecting means at the bottom of the bag, to trigger their movement and thus the closure of the air intakes, once the bag inflated, against the solicitation elastic means; and
  • the connecting means comprise at least one traction cable, one end of which is hooked on the bottom of the bag and the other end of which is hooked on the valves.

L'invention sera mieux comprise à l'aide de la description qui va suivre, donnée uniquement à titre d'exemple et faite en se référant au dessin annexé, qui représente une vue partielle en coupe schématique d'un exemple de réalisation de la partie arrière d'un système de contre mesure sous marine selon l'invention.The invention will be better understood with the aid of the description which follows, given solely by way of example and with reference to the appended drawing, which represents a schematic partial sectional view of an embodiment of the part rear of a submarine countermeasure system according to the invention.

On a en effet illustré sur cette figure, une portion notamment arrière d'un système fonctionnel à changement de milieu air/eau tel que notamment un système de contre mesure sous marine selon l'invention, ce système étant désigné par la référence générale 1.In this figure, a particularly rear portion of a functional system with a change of air / water medium has been illustrated, such as in particular a submarine countermeasure system according to the invention, this system being designated by the general reference 1.

Ce système présente par exemple une forme générale cylindrique et est par exemple destiné à être lancé ou tiré notamment à partir d'un bâtiment de surface, pour protéger ou défendre celui-ci contre des menaces constituées par des armes sous marines telles que par exemple des torpilles ou autres, de façon classique.This system has for example a generally cylindrical shape and is for example intended to be launched or fired including from a surface vessel, to protect or defend it against threats constituted by submarine weapons such as for example torpedoes or others, in a conventional manner.

De façon classique également, ce système de contre mesure comporte alors un corps ou embase, désigné par la référence générale 2 sur cette figure, et associé à un sac gonflable désigné par la référence générale 3.Also conventionally, this counter-measurement system then comprises a body or base, designated by the general reference 2 in this figure, and associated with an inflatable bag designated by the general reference 3.

De façon classique, ce sac gonflable 3 est donc par exemple fixé sur la partie arrière du corps 2 du système, par exemple à l'extrémité de celui-ci et permet d'assurer une meilleure stabilité en vol et une flottabilité du système de contre mesure lors et après son lancement.In a conventional manner, this inflatable bag 3 is for example fixed on the rear part of the body 2 of the system, for example at the end thereof and makes it possible to ensure better stability in flight and a buoyancy of the counter system. measure during and after launch.

Comme cela est illustré, le système de contre mesure comporte également des moyens formant prise d'air de gonflage de ce sac 3 lors de son lancement, ces moyens formant prise d'air étant par exemple désignés par la référence générale 4 et 5 sur cette figure.As illustrated, the countermeasure system also comprises inflating air intake means of the bag 3 at its launch, these air intake means being for example designated by the general reference 4 and 5 on this Fig.

De tels moyens formant prise d'air sont alors par exemple régulièrement répartis autour du corps 2 du système de contre mesure.Such air intake means are for example regularly distributed around the body 2 of the countermeasure system.

Dans l'exemple illustré sur la figure annexée, deux prises d'air sont illustrées et sont donc disposées à l'opposé l'une de l'autre au niveau du corps 2 du système de contre mesure.In the example illustrated in the attached figure, two air intakes are illustrated and are therefore placed opposite each other at the body 2 of the countermeasure system.

En fait, et comme cela est illustré, chaque prise d'air 4 ou 5 comporte par exemple un clapet articulé sur le reste du corps 2, et sollicité en position d'ouverture de la prise d'air correspondante 4 ou 5, par des moyens élastiques tels que par exemple un ressort hélicoïdal respectivement 6 ou 7 sur la figure, associés à des moyens d'articulation des clapets 8 et 9 sur le reste du corps 1 du système de contre mesure.In fact, and as illustrated, each air intake 4 or 5 comprises for example a valve hinged to the rest of the body 2, and biased in the open position of the corresponding air intake 4 or 5, by resilient means such as for example a helical spring respectively 6 or 7 in the figure, associated with means of articulation of the valves 8 and 9 on the rest of the body 1 of the countermeasure system.

On conçoit alors qu'après le lancement d'un tel système de contre mesure, lors de la phase de vol de celui-ci, ces ressorts 6 et 7 sollicitent les clapets 8 et 9 en position d'ouverture des prises d'air 4 et 5, de sorte que de l'air pénètre dans le sac gonflable 3 afin de gonfler celui-ci lors de cette phase de vol.It is conceivable then that after the launch of such a countermeasure system, during the flight phase thereof, these springs 6 and 7 urge the valves 8 and 9 in the open position of the air intakes 4 and 5, so that air enters the airbag 3 to inflate it during this phase of flight.

Les clapets 8 et 9, en position d'ouverture, permettent en effet de guider l'air dans les prises d'air afin de gonfler le sac 3, lors de la phase de vol du système.The valves 8 and 9, in the open position, indeed guide the air into the air intakes to inflate the bag 3, during the flight phase of the system.

Ceci permet également de stabiliser le système de contre mesure lors de cette phase de vol.This also makes it possible to stabilize the countermeasure system during this phase of flight.

Comme cela est illustré, le fond de ce sac 3, désigné par exemple par la référence générale 10 sur cette figure, est associé par des moyens de liaison de tout type approprié, désignés par la référence générale 11 sur cette figure, aux clapets 8 et 9 des prises d'air 4 et 5, afin de déplacer ces volets en position de fermeture des prises d'air lorsque le sac est suffisamment gonflé.As illustrated, the bottom of this bag 3, designated for example by the general reference 10 in this figure, is associated by connecting means of any appropriate type, designated by the general reference 11 in this figure, to the valves 8 and 9 air intakes 4 and 5, to move these flaps in the closed position of the air intakes when the bag is sufficiently inflated.

En effet, au fur et mesure du gonflage de celui-ci, le sac se déplie et le fond de ce sac se déplace en entraînant par l'intermédiaire des moyens de liaison 11, le déplacement des clapets 8 et 9 et donc la fermeture des prises d'air 4 et 5.Indeed, as and when inflation of the latter, the bag unfolds and the bottom of the bag moves by driving through the connecting means 11, the movement of the valves 8 and 9 and therefore the closure of air intakes 4 and 5.

Dans l'exemple de réalisation illustré sur cette figure, les moyens de liaison 11 comprennent par exemple un câble de traction dont une extrémité est accrochée au fond 10 du sac 3 et dont l'autre extrémité présente deux branches raccordées chacune à l'un des clapets 8 et 9 de l'une des prises d'air 4 et 5.In the exemplary embodiment illustrated in this figure, the connecting means 11 comprise, for example, a traction cable whose one end is hooked to the bottom 10 of the bag 3 and whose other end has two branches each connected to one of the valves 8 and 9 of one of the air intakes 4 and 5.

Il va de soi bien entendu que de très nombreux autres modes de réalisation encore de ces différents éléments peuvent être envisagés.It goes without saying of course that many other embodiments of these different elements can be envisaged.

On conçoit alors que ce système présente un certain nombre d'avantages par rapport aux systèmes de l'état de la technique notamment au niveau d'une part de la sécurité de stockage, de fonctionnement et de lancement du système de contre mesure selon l'invention et d'autre part, de la fiabilité de celui-ci.It is then conceivable that this system has a certain number of advantages over systems of the state of the art, in particular, on the one hand, the security of storage, operation and launching of the countermeasure system according to the invention and secondly, the reliability of it.

Par ailleurs un tel système ne nécessite qu'un entretien extrêmement réduit par rapport aux systèmes de l'état de la technique.Moreover, such a system requires only extremely low maintenance compared to the systems of the state of the art.

Bien entendu d'autres modes de réalisation peuvent être envisagés.Of course other embodiments can be envisaged.

De même d'autres applications à d'autres systèmes fonctionnels à changement de milieu peuvent être envisagés comme par exemple pour des balises acoustiques, des marqueurs colorants.Likewise other applications to other functional systems with change of medium can be envisaged, for example for acoustic beacons, coloring markers.

Claims (5)

Système fonctionnel à changement de milieu air/eau tel que notamment de contre mesure sous marine (1) destiné à être lancé notamment à partir d'un bâtiment de surface, du type comportant un corps de contre mesure (2) associé à un sac gonflable (3), caractérisé en ce qu'il comporte des moyens formant prise d'air (4, 5) de gonflage du sac, sollicités en position d'ouverture lors du lancement de celui-ci et en ce que ces prises d'air (4, 5) sont associées à des moyens de fermeture (10, 11), une fois le système lancé et le sac gonflé.Functional system with air / water medium change such as in particular underwater countermeasure (1) intended to be launched in particular from a surface building, of the type comprising a countermeasure body (2) associated with an airbag (3), characterized in that it comprises air intake means (4, 5) of inflation of the bag, biased in the open position at the launch thereof and in that these air intakes (4, 5) are associated with closure means (10, 11), once the system is launched and the bag inflated. Système selon la revendication 1, caractérisé en ce que les moyens formant prise d'air (4, 5) comportent des clapets (8, 9) articulés sur le reste du système et sollicités en position d'ouverture des moyens formant prise d'air (4, 5) par des moyens élastiques (6, 7), une fois le système lancé.System according to claim 1, characterized in that the air intake means (4, 5) comprise valves (8, 9) articulated on the remainder of the system and biased in the open position of the air intake means. (4, 5) by elastic means (6, 7), once the system is launched. Système selon la revendication 2, caractérisé en ce que les moyens élastiques (6, 7) de sollicitation des clapets comprennent des ressorts hélicoïdaux.System according to claim 2, characterized in that the elastic means (6, 7) for biasing the valves comprise helical springs. Système selon la revendication 2 ou 3, caractérisé en ce que les clapets (8, 9) des moyens formant prise d'air, sont raccordés par des moyens de liaison (11) au fond (10) du sac (3), pour déclencher leur déplacement et donc la fermeture des prises d'air (4, 5), une fois le sac gonflé, à l'encontre de la sollicitation des moyens élastiques (6, 7).System according to claim 2 or 3, characterized in that the valves (8, 9) of the air intake means are connected by connecting means (11) to the bottom (10) of the bag (3), to trigger their displacement and therefore the closing of the air intakes (4, 5), once the bag inflated against the bias of the elastic means (6, 7). Système selon la revendication 4, caractérisé en ce que les moyens de liaison (11) comprennent au moins un câble de traction dont une extrémité est accrochée sur le fond (10) du sac (3) et dont l'autre extrémité est accrochée sur les clapets (8, 9).System according to Claim 4, characterized in that the connecting means (11) comprise at least one traction cable, one end of which is hooked on the bottom (10) of the bag (3) and the other end of which is hooked on the valves (8, 9).
EP20130183509 2012-09-18 2013-09-09 Functional system with air/water medium change, in particular such as an underwater countermeasure intended for being launched in particular from a surface vessel Active EP2708460B1 (en)

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FR1258731A FR2995588B1 (en) 2012-09-18 2012-09-18 FUNCTIONAL SYSTEM FOR CHANGING THE AIR / WATER ENVIRONMENT AS IN PARTICULAR AGAINST UNDERWATER MEASUREMENT INTENDED TO BE LAUNCHED IN PARTICULAR FROM A SURFACE BUILDING

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EP2708460B1 EP2708460B1 (en) 2015-01-28

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Cited By (1)

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Publication number Priority date Publication date Assignee Title
CN114348218A (en) * 2021-11-30 2022-04-15 中国船舶重工集团公司第七一九研究所 Self-hidden bubble curtain protection system and underwater vehicle

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EP0024988A1 (en) * 1979-08-28 1981-03-11 Thomson-Csf Air-dropped buoy
EP0289407A1 (en) * 1987-04-29 1988-11-02 Thomson-Csf Air-dropped buoy, especially for submarine watching
US5795203A (en) * 1994-10-18 1998-08-18 Thomson-Csf Air-launched buoy

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EP0007830A1 (en) * 1978-07-18 1980-02-06 Thomson-Csf Air-dropped buoy
FR2431419A1 (en) 1978-07-18 1980-02-15 Thomson Csf WIDE AIRBORNE BUOY
FR2450193A1 (en) 1979-02-27 1980-09-26 Thomson Csf WIDE AIRBORNE BUOY WITH INERTIAL TRIGGERING
EP0024988A1 (en) * 1979-08-28 1981-03-11 Thomson-Csf Air-dropped buoy
EP0289407A1 (en) * 1987-04-29 1988-11-02 Thomson-Csf Air-dropped buoy, especially for submarine watching
US5795203A (en) * 1994-10-18 1998-08-18 Thomson-Csf Air-launched buoy

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114348218A (en) * 2021-11-30 2022-04-15 中国船舶重工集团公司第七一九研究所 Self-hidden bubble curtain protection system and underwater vehicle
CN114348218B (en) * 2021-11-30 2024-05-07 中国船舶重工集团公司第七一九研究所 Self-hidden bubble curtain protection system and submarine

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EP2708460B1 (en) 2015-01-28
FR2995588A1 (en) 2014-03-21

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