GB1605227A - Method of acoustic supervision of a zone of the sea and location of sources of sound as well as apparatus for carrying out the method - Google Patents
Method of acoustic supervision of a zone of the sea and location of sources of sound as well as apparatus for carrying out the method Download PDFInfo
- Publication number
- GB1605227A GB1605227A GB1269172A GB1269172A GB1605227A GB 1605227 A GB1605227 A GB 1605227A GB 1269172 A GB1269172 A GB 1269172A GB 1269172 A GB1269172 A GB 1269172A GB 1605227 A GB1605227 A GB 1605227A
- Authority
- GB
- United Kingdom
- Prior art keywords
- submarine
- sonar
- zone
- acoustic
- sea
- 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.)
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
- G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
- G10K11/004—Mounting transducers, e.g. provided with mechanical moving or orienting device
- G10K11/006—Transducer mounting in underwater equipment, e.g. sonobuoys
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Acoustics & Sound (AREA)
- Multimedia (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Description
(54) METHOD OF ACOUSTIC SUPERVISION OF A ZONE OF
THE SEA AND LOCATION OF SOURCES OF SOUND AS WELL
AS APPARATUS FOR CARRYING OUT THE METHOD
(71) We, FRIED KRUPP GESELLSCHAFT MIT BESCHRANKTER HAFTUNG ELEKTRoNIK
BREMEN, of D-28 Bremen 44, Sebaldsbrucker
Heerstrasse 235, Germany, a German Body
Corporate, do hereby declare the invention, for which we pray that a patent may be granted to us, and the method by which it is to be performed, to be particularly described in and by the following statement:
The invention relates to a method of acoustic supervision of a zone of the sea and for location of sources in or above the zone of the sea from a submerged submarine as well as apparatus for carrying out the method.
In use of submarines for supervision or for tactical purposes, there must be a connection transmitting waterborne sound between the interesting sound radiating object constituting the source of sound and the submarine but it must so far as possible be so arranged that the submarine cannot be located from the said zone of the sea. The submarine must be sufficiently close to the zone of the sea to be able to reach with its weapons a possible target to be destroyed; it must on the other hand be far enough from this target not to be detected by the target itself or from forces accompanying the target, followed and destroyed.Finally for safe waging of war from the submarine it is necessary not only to be able to detect approach of a far off target to be destroyed but also to be able to detect the course, speed and distance of that target without self-betrayal by the use of the active location method.
Various methods of performing the above described task are known and in use, for example the known four soundings method (measurement of target distance successively from four different positions) or the passive distance sounding method by evaluation of received wave fronts by two receiver bases disposed as far apart as possible. The main disadvantage of these current methods is the inaccuracy of the distance determination in the case of a far distant target, which is generally insufficiently good for warfare purposes, and in addition the long time required by the four soundings method for the four successive measurements and the need to move the submarine to the four different places of measurement so that the security against self-betrayal is diminished.Finally with these methods of location from the submarine itself, the known shadow effect arising from the special sound transmission characteristics of water layers at different temperatures cannot be utilized to protect the submarine, as for water sound location from the submarine itself the submarine must leave the protective shadow zone; which increases the danger of the submarine being detected by active and/or passive locating devices from the zone of the sea supervised and in particular from the target to be destroyed, which can then take counter action in good time.
It is the object of this invention to overcome these disadvantages. The invention is based on the consideration that for location of a source of sound there must be a spatial separation between the submarine and its location device, whereby the mobility of the submarine is retained within certain limits, and the possibility of location of its locating device must be small.
The invention provides a method for acoustic supervision of a zone of the sea and location of sources of sound in or over said zone from a submerged submarine, in which the submarine ejects a location system in an acoustically favourable position in relation to the zone of the sea to be supervised and then, remaining in communication with this location by an information channel not dependent on waterborne sound, travels to an observation position spatially displaced from the location system and there evaluates information from the location system. Preferably the observation position is a sound shielded position at a large distance from the supervised zone of the sea.An acoustically favourable position of the location system is attained when there is good communication by water borne sound with the zone of the sea while the submarine remains so far as possible in a shadow zone which cannot be penetrated by water borne sound.
Preferably the sound location system consists of at least two passive sonar buoys disposed at different positions and each connected to the submarine by a signal cable which can be paid out, the totality of said cables constituting the information channel, the positions of the sonar buoys in relation to the momentary position of the submarine being indicated on a position indicator in the submarine, and information picked up by the sonar buoys from sound waves from said zone of the sea being communicated over the signal cables to the position indicator and there evaluated as classifying and if desired target information.
An acoustic path is thus established from the zone of the sea to be supervised by the ejected sonar buoys. without the submarine itself being liable to detection from the zone of the sea, because it stays in the shadow zone and communicates with the sonar buoys by the information channel constituted by signal cables.In accordance with the length of the available signal cables the submarine can move considerably away from the position of its location system, for example submerge to great depths; from thence it can supervise the interesting zone of the sea while remaining motionless and, if necessary, on the basis of the target data derived from this supervision launch from its safe observation position a guided missile preferably cable linked - towards a source of sound in the zone of the sea recognised as a target to be destroyed. for example a ship or an aircraft situated above the water and transmitting air borne sound through the water.As the position of this interesting object and therefore its distance from the submarine can be very exactly determined. the maximum range of the control cable for the guided missile can be used; it is therefore no longer necessary to hold in tactical reserve a certain part of the maximum possible range on account of inaccurate determination of distance. Owing to the spatial separation of the location system of the submarine from the submarine itself, the effective location range of the submarine is increased and normally the submarine, apart from the intended utilization of the sound shielding shadow zone, is located outside the location range of an object in the zone of the sea because of its increased distance from that zone.
The positioning of the submarine in a safe shadow zone is also a favourable precondition for discharging a cable linked guided missile on its way to its target in the supervised zone of the sea through the acoustic shadow zone for at least the initial part of its journey. An acoustic contact between the guided missile and the target is initially unnecessary because the target is supervised by the sonar buoys which are acoustically more favourably positioned and from which, if necessary, correction data for control of the guided missile can be transmitted by the submarine. The guided missile need not emerge from the shadow zone and take over the exact acoustic location of the target until it is near the target.Owing to the small danger to the submarine far distant from the zone of the sea and protected acoustically by the shadow zone, there is no longer any compulsion to shorten a battle situation, so that a guided missile controlled by location information from the sonar buoys can travel in a so-called prowling fashion, i.e. using its lowest and quietest travel condition. It is thus ensured that after the battle the submarine will also be subject to considerably less danger than with present methods.
To carry out the method according to the invention a submarine carries a supply of passive sonar buoys, such for example as are known for use in radio transmission of sonar sounding data to a supervising aircraft. Radio transmission is, however, in the present instance replaced by transmission of sounding data over the signal cables to a submarine. After each sonar buoy is ejected and the submarine travels away from the position of ejection, the signal cable is paid out so that considerable freedom of movement of the submarine is ensured and a signal connection between the sonar buoy and the submarine is maintained.
To maintain positioning of the acoustically sensitive portion of each sonar buoy at a depth favourable for acoustic contact with the zone of the sea to be supervised and at the same time to diminish the possibility of recognition and destruction of the sonar buoy from a surface vessel or aircraft, the sonar buoys may consist of a floating portion and a separate non-floating acoustic portion. the acoustic portion being suspended at a prescribed distance below the floating portion and connected to the signal cable. For positioning in smooth water it is advantageous to replace the floating portion by a non-floating anchoring portion, for example a weight which will sink to the sea bed, and to provide the acoustic portion with a static buoyancy support.
The great tactical advantage and the low cost of such sonar buoys which can be mass produced permits them to be used as throw away articles, so that they need not be recovered when the submarine changes or leaves its observation position. Provision may be made for then destroying the sonar buoys. which can be effected by breaking in the submarine the signal cable providing the information channel. Intentional or unintentional breakage of the signal cable interrupts a steady current flowing in the signal cable, so causing a steady current circuit in the sonar buoy to respond and cause the acoustic portion to sink by breaking the connection to the floating portion or flooding the buoyant support of the acoustic portion.
Embodiments of apparatus for carrying out the method will now be explained with reference to the accompanying diagrammatic drawings, in which:
Figure 1 is a view not to scale showing the positioning of sonar buoys in relation to a zone of the sea supervised from a distantly operating submarine,
Figure 2 shows a sonar buoy with a separate floating portion,
Figure 3 shows an alternative form of sonar buoy with a separate anchoring portion.
As shown in Figure 1, a zone 1 of the sea is to be supervised in regard to a source 2 of sound - for example constituted by a ship 3 or an aircraft 4 hovering above the water - by a submarine 5. The submarine 5 deposits as close as possible to the zone 1 of the sea to be supervised, for example by ejection through a lock 7 in the conning tower 8, a location system constituted by a plurality of sonar buoys 9.
For this purpose there is ejected in a first position a sonar buoy 9 attached to a signal cable 10 which is coiled up - preferably in the submarine 5 - and on movement of the submarine from this first position is paid out. In a second position there is ejected a second sonar buoy 9 which is likewise connected by a signal cable 10 to the submarine 5. For more accurate supervision and to provide against failure of one or more sonar buoys 9, further sonar buoys 9 are preferably ejected at other positions; for clarity of showing Figure 1 is limited to the case of ejection of only three sonar buoys. The attached signal cables 10 to the submarine 5 constitute in their totality an information channel independent of water borne sound from the location system (sonar buoys 9) to the submarine 5.
It is known in submarine techniques and oceanography to establish a profile of the acoustic properties of water in relation to depth, for example by ejecting to produce a so-called bathythermogram a bathyprobe, which rises to the surface and transmits to the submarine measured values of the parameters relevant to spreading of water borne sound at different depths of water, or to measure directly from the submarine by a released measuring probe the speed of water borne sound at different depths.
To reduce on the one hand the likelihood of recognition and destruction of the acoustically sensitive portion 28 (see Figure 2 and Figure 3) of the sonar buoys 9 and on the other hand to position this acoustically sensitive portion 28 at a depth ensuring optimum transmission of water borne sound from the zone 1 of the sea to be supervised, the sonar buoys are constructed of two separate units. In the example shown in Figure 1 two of the sonar buoys 9 consist of a floating portion 11 and a nonfloating acoustic portion 12 suspended from it, and the third sonar buoy 9 consists of an anchoring portion 16 sunk to the sea bed 15 and attached to an acoustic portion 12 having a buoyancy member 17 providing static buoyancy.The length of the connection 18 between the floating portion 11 or the anchoring portion 16 and the acoustic portion 12 is such that the acoustic portion is in each case at a water depth which ensures optimum sound transmission from the zone 1 of the sea to be supervised. To adjust to this desirable depth, the connection 18 can either be set to the required length on board the submarine 5 before ejection of the sonar buoy 9 in accordance with the determined sound profile, or a counter 19 (see
Figures 2 and 3) on one of the parts of the sonar buoy 9 is so pre-set that after ejection of both parts of the sonar buoy 9 the connection 18 will be paid out to the prescribed length from a reel 20.
After ejecting a number of sonar buoys 9 the submarine 5 travels away from their position to an observation position, towing and playing out behind it the signal cables 10 (which preferably have a specific gravity exceeding that of water, so that the signal cables in course of time slowly sink to the bottom); this position conveniently being behind an acoustic shadow zone 6, arising in known manner from temperature layer effects (see "Modern Sonar Systems Guide Atom
Subs" in ELECTRONICS Engineering Edition,
January 3, 1958, pages 58 and 59).
A location of the position of the sources 2 of sound is effected on the basis of the noises from the sources 2 in or above the zone 1 of the sea to be supervised received by the sonar buoys 9.
The sounding data from each sonar buoy 9 notified for an engaged source 2 of sound are transmitted through its signal cable 10 to a position indicator 21, e.g. a PPI display, on board the submarine. Using known methods of sonar technology classification of the engaged sound source 2 and also analysis of its typical noises can be conducted in the submarine 5 operating in the safe shadow zone 6 and the engaged sound source can be classified, e.g. in terms of targets. As the movement of the submarine 5 away from the ejected sonar buoys 9 to its observation position is communicated to the position indicator 21 of the submarine by its log, the exact position of a detected sound source 2 with reference to the sonar buoys 9 as the locating system of the submarine 5 and therefore with reference to the submarine itself can be determined by known passive cross sounding technology.On the basis of these target data a guided missile (not shown in the drawing) can be launched practically undetected to the neighbourhood of the target object from the submarine, preferably using a track running as far as possible through the protective shadow zone.
When the targets are predominantly aircraft 4 hovering over the water, the sonar buoys 9 can advantageously also be provided with an air sound directional receiver 22 for precise location of the position of the air sound source, insofar as the water borne portion of the sound from the aircraft 4 as sound source 2 is insufficient to act on the immersed acoustic portions 12 of the sonar buoys 9. The signals from the receiver 22 are transferred to the acoustic portions 12 and thence - if desired after coding to differentiate the sounding data - fed into the signal cable 10 and transmitted to the submarine 5 through an infeed amplifier 29 (see
Figures 2 and 3).
The effect of currents may shift the sonar buoys 9 from the original positions in which they were ejected from the submarine. To be able to correct the display of the position indicator 21 in the submarine 5 and to maintain the exact values for steering towards a target engaged by the sonar buoys from the submarine, provision is made for checking from the submarine from time to time the momentary positions of the sonar buoys by a sound signal emitted from the submarine 5. The probability of betrayal of the position of the submarine 5 is not thereby increased because this infrequently released sound signal (e.g. every quarter of an hour) is short and can be acoustically concealed by suitable coding; since the moment of transmission and the kind of coding are known only in the submarine itself and not to any observer who may be present in the zone 1 of the sea to be supervised.
When the submarine operates in an acoustic shadow zone 6, with the sonar buoys 9 positioned in good acoustic contact with the zone 1 of the sea, the position of the sonar buoys 9 may be checked by a control transmitter 23 having a buoyancy member 17 which is released from the submarine into a water layer which ensures sufficient acoustic contact with the sonar buoys 9.
The control transmitter 23 is projected from the submarine, partly as the result of its own buoyancy, to high water levels in good acoustic contact with the sonar buoys. Betrayal of the momentary position of the submarine by a control signal is, as a rule. not to be feared because the control signals are released infrequently and can be extremely short. As their frequency (and if desired coding) and also the moment of transmission are determined from the submarine. evaluation of the reception by the sonar buoys is assured. while these events are unknown to an observer in the zone of the sea under observation. who will not be able to receive and evaluate the infrequent short control signals.
When the submarine 5 leaves its observation position, for example to seek another shadow zone 6 or to supervise another zone 1 of the sea. it is advisable to destroy the sonar buoys 9, or at least their acoustic portions 12, because reclaiming the sonar buoys 9 by winding in the signal cables is normally uneconomical owing to the low cost of the sonar buoys 9 which can be mass produced.
To sink the sonar buoys 9 the signal cable 10 can be broken at the submarine to interrupt a steady current and cause steady current circuits 25 in the acoustic portions 12 of the sonar buoys 9 (see Figures 2 and 3) to respond to cause the acoustic portions 12 to sink to the sea bed 15.
To ensure adjustment of the length of each connection 18 to suit the sound spreading characteristics, determined for example by a bathythermogram, the counter 19 connected to the storage reel 20 is adjusted before ejection of the sonar buoy 9 to the optimum distance of the acoustic portion from the floating portion 11 (Figure 2) or the anchoring portion 16 (Figure 3). To destroy the acoustic portion
12, response of the steady current circuit 25 actuates a release device 26 which breaks the connection 18 to the floating portion 11 (Figure 2) or opens a flooding valve 27 in the buoyancy member 17 (Figure 3).
WHAT WE CLAIM IS:
1. A method for acoustic supervision of a zone of the sea and location of sources of sound in or over said zone from a submerged submarine, in which the submarine ejects a location system in an acoustically favourable position in relation to the zone of the sea to be supervised and then, remaining in communication with this location by an information channel not dependent on waterborne sound, travels to an observation position spatially displaced from the location system and there evaluates information from the location system.
2. A method according to Claim 1, in which the observation position assumed by the submarine is behind an acoustic shadow zone.
3. A method according to Claim 1 or Claim 2, in which the sound location system is ejected from the submarine in or as near as possible to said zone of the sea and consists of at least two passive sonar buoys disposed at different positions and each connected to the submarine by a signal cable which can be paid out. the totality of said cables constituting the information channel, the positions of the sonar buoys in relation to the momentary position of the submarine are indciated on a position indicator in the submarine and information picked up by the sonar buoys from sound waves from said zone of the sea is communicated over the signal cables to the position indicator and there evaluated as classifying and if desired target information.
4. Apparatus for carrying out the method
according to Claim 3, comprising a supply of
passive sonar buoys. each of which is electric
ally connected to the position indicator in the
submarine by a signal cable paid out upon rela
tive movement between the ejected sonar buoy
and the submarine.
5. Apparatus according to Claim 4. in which
one or more of the sonar buoys consists of a
floating portion and a non-floating acoustic
portion as separate units, the acoustic portion
being suspended at a prescribed distance be
neath the floating portion and being connected
to the signal cable.
6. Apparatus according to Claim 4. in which one or more of the sonar buoys consists of a non-floating anchoring portion and an acoustic
**WARNING** end of DESC field may overlap start of CLMS **.
Claims (10)
1. A method for acoustic supervision of a zone of the sea and location of sources of sound in or over said zone from a submerged submarine, in which the submarine ejects a location system in an acoustically favourable position in relation to the zone of the sea to be supervised and then, remaining in communication with this location by an information channel not dependent on waterborne sound, travels to an observation position spatially displaced from the location system and there evaluates information from the location system.
2. A method according to Claim 1, in which the observation position assumed by the submarine is behind an acoustic shadow zone.
3. A method according to Claim 1 or Claim 2, in which the sound location system is ejected from the submarine in or as near as possible to said zone of the sea and consists of at least two passive sonar buoys disposed at different positions and each connected to the submarine by a signal cable which can be paid out. the totality of said cables constituting the information channel, the positions of the sonar buoys in relation to the momentary position of the submarine are indciated on a position indicator in the submarine and information picked up by the sonar buoys from sound waves from said zone of the sea is communicated over the signal cables to the position indicator and there evaluated as classifying and if desired target information.
4. Apparatus for carrying out the method
according to Claim 3, comprising a supply of
passive sonar buoys. each of which is electric
ally connected to the position indicator in the
submarine by a signal cable paid out upon rela
tive movement between the ejected sonar buoy
and the submarine.
5. Apparatus according to Claim 4. in which
one or more of the sonar buoys consists of a
floating portion and a non-floating acoustic
portion as separate units, the acoustic portion
being suspended at a prescribed distance be
neath the floating portion and being connected
to the signal cable.
6. Apparatus according to Claim 4. in which one or more of the sonar buoys consists of a non-floating anchoring portion and an acoustic
portion provided with a buoyancy member, the acoustic portion being maintained at a prescribed distance from the anchoring portion by a connection and being connected to the signal cable.
7. Apparatus according to Claim 5, in which each sonar buoy includes a cut-off device activated by interruption of the electric connection through the signal cable to the submarine to sink the sonar buoy.
8. Apparatus according to Claim 6, in which the buoyancy member includes a flooding valve actuated upon interruption of the electrical connection through the signal cable to the submarine.
9. Apparatus according to Claim 4, in which some at least of the sonar buoys are provided with an air sound directional receiver for sounding by air borne sound, which is connected to the signal cable of the sonar buoy.
10. Apparatus according to Claim 4, in which the submarine is provided with a releasable control transmitter.
1 ] . Apparatus according to Claim 4, substantially as described herein with reference to the accompanying drawings.
[Dated this 17th day of March 1972.]
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE19712143116 DE2143116C1 (en) | 1971-08-28 | 1971-08-28 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| GB1605227A true GB1605227A (en) | 1985-03-20 |
Family
ID=5818022
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB1269172A Expired GB1605227A (en) | 1971-08-28 | 1972-03-17 | Method of acoustic supervision of a zone of the sea and location of sources of sound as well as apparatus for carrying out the method |
Country Status (3)
| Country | Link |
|---|---|
| DE (1) | DE2143116C1 (en) |
| GB (1) | GB1605227A (en) |
| IT (1) | IT1076050B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0983935A3 (en) * | 1998-08-31 | 2001-11-07 | State Of Israel Ministry Of Defense Rafael - Armament Development Authority | Underwater launched acoustic warning assembly |
| FR2913147A1 (en) * | 2007-02-23 | 2008-08-29 | Thales Sa | Deployment device for sonar surveillance system, has floater whose buoyancy is sufficient to maintain support strut at vertical position, where length of strut is determined to position sonar head to defined depth |
| CN110441779A (en) * | 2019-09-18 | 2019-11-12 | 哈尔滨工程大学 | A kind of more sonar buoy distributed collaboration localization methods |
| CN113406647A (en) * | 2021-05-24 | 2021-09-17 | 哈尔滨工程大学 | Suspended underwater acoustic standard body capable of adjusting posture in real time |
| CN115991263A (en) * | 2023-03-08 | 2023-04-21 | 洛阳隆盛科技有限责任公司 | Aviation sonar buoy for deep sea search and rescue |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102007053103B3 (en) * | 2007-11-07 | 2009-04-09 | Atlas Elektronik Gmbh | Method for reconnaissance of a sea area |
| DE102015120752A1 (en) * | 2015-11-30 | 2017-06-01 | Atlas Elektronik Gmbh | Method for determining an optimal sea depth, sonar system and watercraft |
-
1971
- 1971-08-28 DE DE19712143116 patent/DE2143116C1/de not_active Expired
-
1972
- 1972-03-17 GB GB1269172A patent/GB1605227A/en not_active Expired
- 1972-08-22 IT IT2839072A patent/IT1076050B/en active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0983935A3 (en) * | 1998-08-31 | 2001-11-07 | State Of Israel Ministry Of Defense Rafael - Armament Development Authority | Underwater launched acoustic warning assembly |
| AU763344B2 (en) * | 1998-08-31 | 2003-07-17 | Rafael-Armament Development Authority Ltd. | Underwater launched acoustic warning assembly |
| FR2913147A1 (en) * | 2007-02-23 | 2008-08-29 | Thales Sa | Deployment device for sonar surveillance system, has floater whose buoyancy is sufficient to maintain support strut at vertical position, where length of strut is determined to position sonar head to defined depth |
| WO2008107270A1 (en) * | 2007-02-23 | 2008-09-12 | Thales | Mast-mounted sonar |
| CN110441779A (en) * | 2019-09-18 | 2019-11-12 | 哈尔滨工程大学 | A kind of more sonar buoy distributed collaboration localization methods |
| CN110441779B (en) * | 2019-09-18 | 2023-05-23 | 哈尔滨工程大学 | Multi-sonobuoy distributed co-location method |
| CN113406647A (en) * | 2021-05-24 | 2021-09-17 | 哈尔滨工程大学 | Suspended underwater acoustic standard body capable of adjusting posture in real time |
| CN115991263A (en) * | 2023-03-08 | 2023-04-21 | 洛阳隆盛科技有限责任公司 | Aviation sonar buoy for deep sea search and rescue |
Also Published As
| Publication number | Publication date |
|---|---|
| IT1076050B (en) | 1985-04-22 |
| DE2143116C1 (en) | 1987-02-19 |
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