JP2003222678A - Method and system for underwater sound probing - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an underwater sound probing method in which a high- accuracy probing operation can be performed by removing an influence due to a fluctuation in a posture of an underwater sound probing apparatus mounted on an underwater navigation body. <P>SOLUTION: Sound waves are emitted toward the seabed 3 from an echo sounder transducer 4 mounted on the underwater navigation body 1 navigating in the water 2, the sound waves reflected by a target 5 on the seabed 3 so as to be returned are processed, information on the target 5 is obtained in respective positions A to C due to the navigation of the body 1, a responder 6 by which specific sound waves are sent intermittently toward the transducer 4 is arranged and installed on the seabed 3, the sound waves from the responder 6 are received when they are sent and received in the positions A to C due to the navigation of the body 1, a theoretical sensor part position specified by a speed, a direction or the like of the body 1 is corrected in the positions A to C in such a way that respective position coordinates of the transducer 4 measured in the positions A to C on the basis of the sound waves are piled up, and image information on the target 5 is composited on the basis of information on the corrected received waves obtained in this manner. <P>COPYRIGHT: (C)2003,JPO

Description

DETAILED DESCRIPTION OF THE INVENTION [0001] BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an underwater acoustic
And underwater acoustic exploration systems, especially underwater vehicles
And is useful when exploring the seabed topography, etc.
Things. [0002] 2. Description of the Related Art For example, when exploring the terrain of the seabed, sound
Sonar using sound is widely used. Especially recently
Is a synthetic development that reproduces and visualizes the search target on a monitor image.
A mouth sounding device has been proposed and its application is under consideration.
This synthetic aperture search device is an underwater vehicle that sails underwater
Equipped with a sound wave transmitter and receiver, and sails underwater
While transmitting the sound wave,
Sound waves that are emitted and reflected back from the target
Is received by the receiver, the distance is calculated from the time,
A two-dimensional image of an elephant is reproduced on a monitor. FIG. 6 shows a case where the seafloor is targeted for exploration.
It is explanatory drawing which shows notionally the principle of synthetic aperture search. Same figure
As shown in the figure, the underwater vehicle 1 sails underwater 2.
It is. In the case shown in FIG. 6, parallel to the seabed 3,
Sailing from one side to the left. Where underwater sailing
The body 1 is equipped with an acoustic sounding device, and its transducer 4
It is attached to the abdomen of the main body and emits sound waves toward the seabed 3
To receive the sound waves reflected by the sea floor 3
It has become. In FIG. 6, a sound wave is generated at each of the positions A, B, and C.
Launches and receives the reflected waves at each of the positions A to C.
ing. That is, the acoustic sounding device of the underwater vehicle 1
Do not emit sound waves intermittently toward the seabed 3 during underwater navigation
By processing the information contained in the reflected waves, the ocean floor 3
Is visualized and reproduced on a monitor (not shown).
You. Here, a predetermined frequency (usually,
Intermittently transmits a sound wave of several tens of kHz) modulated by a pulse
You. Also, the sensor part of the receiver of the acoustic
(Several tens to one hundred and several ten) sensing elements, for example,
They are arranged in a grid to form a predetermined plane or curved surface.
To receive reflected waves over the entire flat or curved surface.
ing. In the synthetic aperture search method, detection is performed at each of the positions A to C.
The information on the submarine 3 that was issued is used as the
And taking into account the sound emission interval time, etc.
Information at each of the positions A to C is synthesized.
You. That is, for example, the transducer 4 at the position A is set at the origin.
Form the reference coordinates, and position at the origin of the reference coordinates
By adjusting the coordinates of B and C, the same
Convert the specified target 5 to a position in the reference coordinates
Can be represented. Thus, the information at the plurality of positions A to C is
By synthesizing the information, the plane
Or the curved surface is effectively extended in the traveling direction of the underwater vehicle 1.
Corresponding to the extended plane or curved surface
A sensor unit that has a sensing element effectively
it can. By the way, if the number of sensing elements is large,
As a result, the exploration accuracy is improved. [0005] FIG. 7 is a diagram showing the synthesis shown in FIG.
Reconstructed images at each position A to C by aperture search and these
FIG. 4 is an explanatory diagram conceptually showing a composite image of FIG. It is shown in the figure
Thus, the target 5 based on the sound wave emitted at the position A is
It is located at the front end of the exploration area.
For example, as shown in (a), the image is reproduced on the left part of the screen. same
Thus, the target 5 based on the sound wave emitted at the position B is
It is located in the center of the exploration area, and as shown in (b),
Based on the sound waves emitted at position C, reproduced at the center of the surface
The target 5 is at the rear end of the exploration area, and (c)
As shown in the figure, the image is reproduced at the rear end of the screen. And place
Performs constant coordinate conversion and synthesizes images at each of the positions A to C.
Then, the image shown in (d) is obtained. In the same figure (d), the solid line is
Target 5 corresponding to position A, dashed line corresponds to position B
Target 5, the two-dot chain line corresponds to the position C
It is 5 The target 5 in the composite image is
Overlapping in the composite image due to constant coordinate conversion processing, ideal
In general, it should be able to be represented by a single outline. But actually
Is slightly displaced as shown in FIG.
The outline was unclear, the accuracy deteriorated, and the resolution decreased.
It becomes a reproduced image. This causes the underwater vehicle 1 to swing
Without having to navigate the specified route with high accuracy.
An ideal image can be obtained, but the actual
Causes a deviation in the course of the underwater vehicle 1
The coordinates (origin) of the sensor part of the transducer 4 fluctuate.
Therefore, the error due to this fluctuation is a composite image at each of the positions A to C.
This is because the deviation becomes apparent. In view of the above situation, the present invention relates to an underwater vehicle.
Eliminating the effects of attitude fluctuations of the onboard underwater acoustic probe
Underwater acoustic exploration method capable of performing high precision exploration and
It is an object to provide an underwater acoustic sounding system. [0008] [MEANS FOR SOLVING THE PROBLEMS]
The configuration of Ming is characterized by the following points. 1) Mounted on an underwater vehicle that sails underwater
The transmitter emits sound waves from the
Receiving means for the sound wave returned by reflection at the get
To obtain target information by detecting
The same transmission and reception is repeated while the underwater vehicle is running
And synthesizes the target information obtained at each transmit / receive position.
In the underwater acoustical exploration method, the sensor means
Transmitter that intermittently transmits or reflects a specific sound wave toward
Steps are placed on the target to be explored, and
When transmitting and receiving at each position, the sound wave from the transmitting means
At each of the transmitting and receiving positions based on this sound wave.
Underwater navigation so that the measured positions of the transmitting means overlap each other.
The theoretical underwater specified by the speed, direction, time, etc. of the running body
The positions of the vehicle and the sensor means are determined by the respective transmitting / receiving wave positions.
And based on the corrected received information obtained in this way.
The received information at each transmitting / receiving position is synthesized and
Regenerating the exploration target including the unit. 2) Underwater acoustic exploration method described in 1) above
In the law, a plurality of transmitting means are placed in the object to be searched
The sound waves from each transmitting means are processed in parallel,
Position of each transmitting means measured at the
The position of the underwater vehicle and the sensor means
Compensation at each wave position, and based on each received wave information after this compensation.
The received information at each transmitting / receiving position is synthesized and
Regenerating the exploration target including the unit. 3) Underwater sound described in 1) or 2) above
In the sound search method, sound from the transmitter
Use a responder that emits sound waves of a predetermined frequency in response to waves
That was. 4) Underwater sound described in 1) or 2) above
In the sound search method, sound from the transmitter
The use of a reflector that reflects waves. 5) The underwater sound described in 1) or 2) above
Autonomous and intermittent transmission
The use of a sound wave generator for transmitting sound waves. 6) Mounted on an underwater vehicle traveling in water
Launches sound waves at the target,
The sensor receives the sound waves reflected by the elephant target
In an underwater acoustic exploration system equipped with a wave receiving means,
A specific sound wave is intermittently transmitted or
Wave transmitting means for reflecting, sound waves reflected on the target
Both also receive sound waves transmitted or reflected by the wave transmitting means.
This is the output signal of the sensor means, which is
Output based on sound waves received based on transmissions at different locations.
The force signal is processed and the position of the transmitting means at each transmitting and receiving position is
Information on the position coordinates of the underwater vehicle and the sensor means
Information, and based on this correction value,
Correction means for correcting the information of the object to be searched including the get;
Combining means for combining the information of the search target corrected by the correcting means
Having steps. 7) The underwater acoustic exploration system described in 6) above
In the system, the transmitting means sets a plurality of
The correction means is provided for each transmission received by the sensor means.
The sound waves from the wave means are processed in parallel so that
Position of each transmitting means measured
The position of the underwater vehicle and the sensor means
To be corrected in each case. 8) The underwater sound described in 6) or 7) above
In an echo sounding system, the transmitting means is the sound from the transmitter.
Different frequency than the sound wave emitted by this transmitter after receiving the wave
With a responder that emits sound waves
The means may include a filter to provide for the sensor means.
Output signal from target reflected wave and responder
It must have the function of separating it from emission waves. 9) The underwater sound described in 6) or 7) above
In an echo sounding system, the transmitting means is the sound from the transmitter.
The same frequency as the sound wave emitted by this transmitter
It consists of a responder that emits sound waves, and
The stage sets a threshold value based on the level of the received sound waves.
To determine whether it is less than or greater than
With this, the output signal of the sensor means is output from the target.
Has a function to separate reflected waves and emitted waves from the responder
Things. 10) Underwater as described in 6) or 7) above
In the acoustic sounding system, the wave transmitting means is provided from the transmitter.
It consists of a reflector that reflects sound waves,
The stage sets the position where the level of the received sound wave is highest
Position at each transmitting and receiving position.
Correction processing for overlapping positions must be performed. 11) The water described in 6) or 7) above
In the acoustic sounding system, the transmitting means is transmitted from the transmitter.
Autonomous and intermittent sound waves with a frequency different from the
And a compensating means.
Is set so that the position of the wave transmitting means is overlapped at each position.
It must be corrected. [0020] DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below with reference to the drawings.
This will be described in detail based on FIG. FIG. 1 shows underwater acoustics according to an embodiment of the present invention.
It is explanatory drawing which shows a search method notionally. This embodiment is shown in FIG.
As in the case shown in the above, the seabed is targeted for exploration.
A predetermined search is performed by a synthetic aperture search. In FIG.
If it is indicated, the responder 6
Is different from that shown in FIG.
You. Therefore, the same parts as those in FIG.
The description of the operation is omitted. As shown in FIG.
In this case, the solder 6 is used. This responder 6 is an underwater vehicle 1
By receiving sound waves emitted from the transmitter of the
The intermittent transmission of a sound wave of a predetermined frequency
It is. That is, this responder 6 has a built-in battery.
Operating with a sound wave from the transmitter as a trigger,
A pulse signal including a sound wave of a predetermined frequency is transmitted to the underwater vehicle 1
It is emitted toward the transducer 4. Responder 6 also transmits waves
The frequency of the transmitted sound wave is the frequency of the sound wave transmitted by the transducer 4.
Keep it different from the number. Therefore, the receiver of the transducer 4 is
Along with the reflected wave from the bottom 3,
The sound wave from the spawner 6 is also received. Where the responder
6 is dropped on the seabed 3 prior to the exploration. In the synthetic aperture search method according to the present embodiment,
The underwater vehicle 1 sails in the water 2 as in the case shown in FIG.
Run. With this voyage, the transducer 4 moves toward the seabed 3
Emits sound waves and receives sound waves reflected from the sea floor 3
I do. At the same time, the sound wave emitted from the transducer 4 responds
6 is triggered, and as a result, a sound wave of a predetermined frequency is intermittently
This sound wave is also received. Transmitter / receiver 4 sends
The transmitted sound wave and the sound wave transmitted by the responder 6 are filled.
Data can be separated by
The information of the reflected wave transmitted by the waver 4 and the responder 6 transmit
The information at each position is synthesized with the generated sound waves. Specifically,
It is as follows. FIG. 2 is a view showing the respective positions obtained by the synthetic aperture search shown in FIG.
The reproduced images at the positions A to C and their composite images are conceptually
FIG. Now, positions A, B, and C shown in FIG.
Consider the case where a sound wave is emitted from the transducer 4 at each position of
You. Each of the positions A to C receives a reflected wave. Sand
In addition, the acoustic sounding device is associated with the underwater navigation of the underwater vehicle 1.
While intermittently emitting sound waves toward the seabed 3,
Visualize the state of the seabed 3 by processing the information
And play it back on a monitor (not shown). At this time, as shown in FIG.
The target 5 based on the emitted sound waves is located at the front end of the search area.
If you want to visualize this, it is shown in (a)
So that it is played on the left part of the screen. At the same time, the responder
Information based on 6 also reflects the relative position with target 5
It is played as if it were to its left. Similarly, position B
The target 5 based on the sound waves emitted at
At the center of the screen, as shown in (b)
The target that is reproduced and based on the sound wave
Is located at the rear end of the exploration area, as shown in (c).
That is, it is reproduced at the rear end of the screen. Also, each less
The information based on the bonder 6 also reverses the relative position with the target 5.
And is played back as if it were on the left side. Next, the coordinates at each of the positions A to C are used as a reference.
Adjust to the coordinates (for example, coordinates with position A as the origin)
However, at this time, each position is determined based on the position of the responder 6.
Correct the coordinates. That is, the response at each of the positions A to C
The composition is performed so that the positions of the das 6 overlap. With such a correction
And is defined by the relative positional relationship with the responder 6.
The position of the target 5 is also completely matched at each of the positions A to C.
Can be stacked. Thus, at positions A through C
As shown in (d), the image obtained by synthesizing the information
The target 5 is accurately superimposed together with the target 6 and a clear image
Will be played as That is, the image of the target 5 is
Can be obtained in resolution. In the above embodiment, the responder 6
Has been described, but it is obvious that a plurality of
Arguably good. When two responders 6a and 6b are used
An embodiment is shown in FIG. (A) to (d) of FIG.
(A) to (d) respectively. That is,
The images at the positions A to C and the synthesized image are shown, respectively.
are doing. As the number of responders 6 increases, the search
The inspection accuracy is improved. In the case of two, on the surface containing the specific line
Can be corrected, and when three or more
It is possible to uniquely specify and make corrections on this specified surface.
it can. In the above embodiment, the transmitter / receiver 4 transmits a wave.
Of the sound wave transmitted from the responder 6 and the frequency of the sound wave transmitted from the responder 6.
The frequency is different from the number, but both are the same frequency
You can also. In this case, the reflected wave from the target 5
And whether the signal is transmitted from the responder 6.
It is necessary. For this purpose, for example,
Set the threshold value, and set this threshold value
When the above components are processed as a wave transmitted from the responder 6,
In both cases, target 5 is the component below the threshold value.
What is necessary is just to process as a reflected wave of these. This is generally
The emission wave is a relatively low-level sound wave and large in the reflection direction.
The sound wave varies in strength depending on the
Transmitter 6 must be stable, high-level sound waves
Is used to distinguish between the two. In addition, each transmission and reception wave
The component that was received stably each time the sound from responder 6
When it is recognized as a wave, the sound wave returns,
The reflected wave from the target 5 paying attention to the fuzzy component
It can also be determined that. Transmission from responder 6
A stable sound component is always detected
On the other hand, the reflected component from the target 5 is
No return of the reflected component due to the shape of 5, or very weak
Is used. Furthermore, instead of the responder 6,
May be used. Here, the reflector is a transducer
4 reflects the sound wave transmitted from the antenna. This reflation
The level of the sound wave reflected by the
Is greater than the level of sound waves reflected at
The position where the sound wave level is large should be the position of the reflector.
With this, the same function as the responder 6 can be provided.
it can. . The underwater acoustic exploration method as described above is shown in FIGS.
5 can be realized by an underwater acoustic search system. FIG. 4 shows a water according to a second embodiment of the present invention.
A medium acoustic detection system, especially a reception processing system for reflected signals, etc.
It is a block diagram shown. This embodiment is shown in FIG.
Such a responder 6 is attached to the seabed 3 (see FIG. 1; the same applies hereinafter).
This is a wave reception processing system when the responder 6
The frequency of the sound wave to be transmitted is equal to that of the transducer 4 (see FIG.
Same. ) Is higher than the frequency of the transmitted sound wave
Science. As shown in FIG.
A single element is arranged in a plane.
There is no difference from the one shown in FIG. That is, each section
Sensing element receives sound waves such as reflected waves and
A sound wave signal corresponding to the electric signal is transmitted. This sonic signal
The signal has a low frequency reflected wave component and a high frequency
The transmission component of the ponder 6 is mixed. Low-pass filter 11 and high-pass filter
The signal from the sound wave signal which is the output signal of the sensor 10
The reflected wave component having a low wave number and the responder 6 having a high frequency
These are separated into transmission components and output. Sound signal division
The unit 13 transmits the reflected sound wave at each transmission time.
Time t received_n(N = 1, 2,...; Hereinafter the same)
Same. ) Together with the information of (1). this
As a result, each time t_nInformation on reflected waves for each
Is taken in. Further, the image reproducing unit 14
Each time t supplied from the report supply unit 15_nUnderwater navigation in
Based on the information on the position coordinates of the running body 1,
The get 5 is adjusted. As a result, each time t_nevery
Play target 5 converted to reference coordinates on virtual image
can do. The information obtained in this way is
The synthetic aperture exploration shown in FIG.
According to the invention, the following components are used to transmit exploration information.
Higher quality, such as higher resolution, has been achieved. The sound wave signal dividing section 16 sends a signal from the responder 6
The time t at which the sound wave was received at each transmission time_n
(N = 1, 2,...; The same applies hereinafter).
It is sent to the spawner position detector 17. As a result,
Each time t_n6 for every responder
Information based on these transmissions is captured. Where the respo
In the position detection unit 17, each time t_nResponder 6
Are corrected so that the positions of
The correction amounts at this time are supplied to the image correction unit 18. this
At this time, the image obtained by the image reproducing unit 14 is stored in the image correcting unit 18.
Information is also provided. Therefore, the image information is
Signal representing the amount of correction, which is an output signal of the
To correct. As a result, each time t_nImage information for each
The position on the coordinates corrected taking into account the position of the responder 6
Is reproduced, and its relative position is
Each time t of the specified target 5_nHigher location information for each
Accuracy can be matched. The image synthesizing unit 19
Each time t based on the information corrected by the image correction unit 18_nEach painting
The image information is synthesized and sent to the monitor 20. On the monitor 20
Reproduces and visualizes the image information. As a result,
Target 20 with a clear outline and high resolution
5 images can be reproduced. In the above embodiment, each time t_nevery
The reproduced image information is reproduced by the image reproducing unit 14 and then the image is reproduced.
Although the correction unit 18 performs the predetermined correction, the present invention is not limited to this.
Not something. Each time t_nOf responder 6 in Japan
Position coordinates (underwater vehicle 1 (see FIG. 1; the same applies hereinafter))
Based on information such as navigation speed, time in between and navigation direction
The position coordinates of the underwater vehicle 1 obtained by the calculation are
The theoretical position coordinates when adjusted to the position coordinates
Calculate the correction value of each component of
Underwater vehicle 1 (transmitter / receiver 4) in the location information supply unit 17
I corrected each position coordinate of, and corrected in this way
Predetermined correction at a stretch by using the subsequent position information
Is completed, the image composition in the image composition unit 19 is performed.
I can. In this case, the position information of the underwater vehicle 1
This is because it is corrected to reflect the actual navigation condition. FIG. 5 shows water according to a third embodiment of the present invention.
A medium acoustic detection system, especially a reception processing system for reflected signals, etc.
It is a block diagram shown. This embodiment is shown in FIG.
In the reception processing system, the responder 6 shown in FIG.
Using sound waves reflected by reflectors instead of reflected sound waves
And a processing system for processing sound waves from the responder 6.
In that a sound wave level detection unit 21 is provided instead of.
Therefore, the same parts as those in FIG.
Description is omitted. In this embodiment, as described above, the reflector portion is used.
The level of the reflected sound wave is the sound reflected by the target 5
It is based on the fact that it is generally larger than the wave level
is there. The reflector according to the present embodiment is an object that reflects sound waves.
If so, there is basically no limit, but for example, a spherical shape
A good configuration can be made with a sound wave reflector. Spherical
In any case, no matter what direction the sound wave is transmitted from,
Because it can be present. Such re
A reflector is provided on the seabed 3 instead of the responder 6,
Good. In this state, as in the case of the second embodiment,
Next, transmission and reception at each of the positions A to C (see FIG. 1; the same applies hereinafter).
A sound wave is emitted by the device 4. Thus, the reflector and
The sound wave reflected by the target 5 is directed toward the underwater vehicle 1.
Returning, this component is detected by the sensor 10. Sensor 10
Then, based on the received sound wave, the sound wave signal dividing unit 13
After performing certain processing, the position information of the position information
Each time t based on_nIn the image playback unit 14
Live. In this embodiment, the sound wave level detection unit 21 performs image processing.
Time t reproduced by the control unit 14_nFrom image information in
To calculate the position coordinates of the position with the highest sound wave level
The position coordinates of the reflector at the reference coordinates match
The correction value is determined so as to perform. Each correction value at this time is
The image data is supplied to the image correction unit 18 similar to that of the second embodiment.
Thus, the image information obtained by the image reproducing unit 14 is corrected.
After that, the image was corrected by the image correction unit 18 in the image synthesis unit 19.
Each time t based on the information_nMonitor by synthesizing image information for each
20. Thus, on the monitor 20, each of the positions A to A
By matching the positions of the reflectors at C,
The position coordinates of the underwater vehicle 1 based on the measured position coordinates of the reflector
Clear image of target 5 with corrected theoretical position coordinates
Can be played. In each of the above embodiments, the transmission from the transmitter / receiver 4
Returning a sound wave to the transducer 4 using a wave as a trigger (less
Ponda 6) or reflects the sound waves emitted from the transmitter
Using a reflector (reflector) returned to the transducer 4 side
Theoretical position associated with the running of the medium navigation vehicle 1 (transmitter / receiver 4)
This is to detect and correct the deviation from the set coordinates.
It is not necessary to limit to them. That is, from the transducer 4
Active method, which performs predetermined correction based on the transmission wave, so to speak
It is not necessary to limit to. For example, automatically generate sound waves of a predetermined frequency
A sound source for intermittent transmission is installed on the sea floor,
Of the underwater vehicle 1 (transmitter / receiver 4) based on the information of the wave source
The position is corrected and each time t_nBy calculating the correction amount for each
Similarly, the alignment of the target 5 at each of the positions A to C
Singing can be performed. That is, the concept of the sound wave lighthouse
It can also be realized as a passive search method using. The exploration target has been described as the seabed 3
However, this may be sea level. In this case,
The vessel 4 is fixed on the upper surface of the underwater vehicle 1 and directs sound waves upward.
Fire. In addition, the underwater vehicle 1 sails underwater by itself.
Method, such as fixing to the bottom of a ship.
It may be one that sails integrally with the ship. [0040] The present invention will be described specifically with the above embodiments.
As described above, the invention described in [Claim 1] sails underwater.
Launches sound waves from a transmitter mounted on an underwater vehicle,
Return by reflecting from the target to be searched, such as the bottom
The received sound wave is detected by the sensor
Information of the ship and while sailing the underwater vehicle
Repeat the same transmission and reception, and obtain the tar
Underwater acoustic exploration method that synthesizes and processes get information
And a specific sound wave is intermittently transmitted to the sensor means.
A wave transmitting means for reflecting waves or waves
When transmitting and receiving at each position as the underwater vehicle moves,
The sound wave from the wave transmitting means is also received, and based on this sound wave,
Each position of the transmitting means measured at each transmitting and receiving position
Speed, direction and time of the underwater vehicle so that
The theoretical underwater vehicle specified and the position of the sensor means
Is corrected at each of the transmit and receive positions, and thus obtained.
Received information at each transmit / receive position based on each received information after correction
And synthesizing information to regenerate the search target including the target
The feature is that the received information of each transmitting and receiving position is
The position of the transmitting means in the
The target position for which
It matches in the receiving information of the receiving position. Therefore, each
When the received wave information of the transmitting / receiving wave position is synthesized,
Target position completely overlaps
Image can be reproduced as a clear and high-precision image.
And high-resolution information can be obtained. The invention described in [Claim 2] is based on [Claim 2]
In the underwater acoustic sounding method described in 1), the wave transmitting means is
A plurality of them are placed in the exploration target, and the sound waves from
Are measured in parallel at each transmitting and receiving position by processing
Underwater vehicle and so that the positions of the means overlap each other
Correct the position of the sensor means at each transmitting and receiving position,
Each reception at each transmission / reception position is performed based on each reception information after this correction.
Synthesizes wave information to determine the target to be searched including the target
It is characterized by reproduction, so it can be placed in two or three dimensions.
Each component of the coordinates can be individually corrected. This result
As a result, the effects of the invention described in [Claim 1] are more remarkably exhibited.
Can be volatilized. The invention described in [Claim 3] is based on [Claim 3
[1] or the underwater acoustic exploration method according to [Claim 2].
Receiving a sound wave from a transmitter as a transmitting means.
Characterized by using a responder that emits sound waves with a frequency
Therefore, the effect of [Claim 1] or [Claim 2]
It can be realized using a spawner. The invention described in [Claim 4] is based on [Claim 4
[1] or the underwater acoustic exploration method according to [Claim 2].
And as a wave transmitting means, a reflector for reflecting sound waves from the transmitter.
Since a reflector is used, [Claim 1]
Or the effect of claim 2 can be realized by using a reflector.
You. The invention described in [Claim 5] is based on [Claim 5]
[1] or the underwater acoustic exploration method according to [Claim 2].
And transmit sound waves autonomously and intermittently as a transmitting means.
Because it is characterized by using a sound generator that generates
The effects of [1] or [2] are realized using a sound wave generator.
Can manifest. The invention described in claim 6 is for navigating underwater.
It is mounted on a running underwater vehicle and emits sound waves toward the
Sound emitted and reflected from the target being probed
Underwater acoustics equipped with wave transmitting / receiving means for receiving waves at the sensor unit
In the exploration system, it is assigned to the
A wave transmitting means for intermittently transmitting or reflecting the sound wave;
The wave transmitting means transmits or receives the sound wave reflected by the target.
Is the output signal of the sensor means that also receives the reflected sound waves.
Based on the transmission at different positions as the underwater vehicle
Process the output signal based on the received sound wave, and
The underwater vehicle and the
The information on the position coordinates of the sensor means is corrected and based on this correction value.
Information of the target to be searched including the target at each transmitting and receiving position
Correction means for correcting the
Synthesizing means for synthesizing elephant information.
Therefore, the position of the transmitting means in the receiving information of each transmitting and receiving position
And the relative positional relationship with the transmitting means is unambiguous.
Received information of each transmit / receive position
Matches. Therefore, the receiving information of each transmitting / receiving position
When the information is synthesized, the target
Positions are completely duplicated and are clear in the reproduced image
Can be played back as high-precision images, and high-resolution information
Can be obtained. The invention described in [Claim 7] is based on [Claim 7]
6] In the underwater acoustic sounding system described in [6],
The step is provided by arranging a plurality of steps on the object to be searched.
Is the parallel transmission of sound waves from each transmitting means received by the sensor means.
Of each transmitting means actually measured at each transmitting and receiving position
Underwater vehicle and sensor so that each position overlaps
The position of the means is corrected at each transmitting and receiving position.
It is characterized by two-dimensional or three-dimensional position
Each component of the mark can be individually corrected. As a result,
The effect of the invention described in [Claim 6] is more remarkably exhibited.
Can be made. The invention described in [Claim 8] is based on [Claim 8]
6] or the underwater acoustic exploration system according to [7]
In the above, the wave transmitting means receives the sound wave from the
Emits sound waves at a different frequency than the sound waves emitted by the transmitter
And a compensating means,
The output signal of the sensor means.
Separation into reflected wave from target and emitted wave from responder
It is characterized by having a function to
From the acoustic wave, the reflected wave based on the target and the responder
The sound waves to be emitted are extracted with a filter, and
Performs correction of predetermined position coordinates based on sound waves emitted by
The effect of [Claim 6] or [Claim 7] can be
It can be realized using a spawner. The invention described in [Claim 9] is based on [Claim 9]
6] or the underwater acoustic exploration system according to [7]
In the above, the wave transmitting means receives the sound wave from the
A sound wave with the same frequency as the sound wave emitted by the transmitter is emitted
In addition to being constituted by a responder, the correction means
A threshold value based on the level of
Is detected by detecting which
The output signal of the
That have the function of separating from the
From the received sound wave based on the target
The reflected wave and the sound wave emitted by the responder
Each value is extracted using the default value and the responder fires
By correcting the predetermined position coordinates based on the sound waves
The effect of [Claim 6] or [Claim 7].
This can be realized by using The invention described in [Claim 10]
Item 6] or the underwater acoustic exploration system according to item [7].
Transmitting means for reflecting sound waves from the transmitter
The correction means is composed of a reflector
The position with the highest level is considered to be the position of the transmitting means.
The position of this transmitting means overlaps at each transmitting and receiving position.
It is characterized by performing such correction processing,
From received sound wave, target-based reflected wave and reflector
And the reflected wave based on
Correction of predetermined position coordinates based on the sound wave
The effect of [Claim 6] or [Claim 7].
This can be realized by using The invention described in [Claim 11] is based on [Claim
Item 6] or the underwater acoustic exploration system according to item [7].
In the system, the transmitting means is a sound wave emitted from the transmitter.
Sounds that autonomously and intermittently transmit sound waves of different frequencies
The correction means is composed of a wave generator.
The position is corrected so that each transmission and reception overlaps at the position.
The sound emitted by the sound wave generator.
Of the underwater vehicle or sensor means at each transmitting / receiving position
Correct the position, and use this correction value to calculate the predetermined position coordinates.
The effect of [Claim 1] or [Claim 2]
The result can be realized using a sonic generator.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an explanatory view conceptually showing an underwater acoustic search method according to a first embodiment of the present invention. FIG. 2 is an explanatory view conceptually showing reproduced images at respective positions A to C in the synthetic aperture search (in the case of one responder 6) shown in FIG. FIG. 3 is an explanatory diagram conceptually showing reproduced images at respective positions A to C in the synthetic aperture search (in the case of two responders 6) shown in FIG. FIG. 4 is a block diagram showing an underwater acoustic search system according to a second embodiment of the present invention, particularly a wave reception processing system for reflected signals and the like. FIG. 5 is a block diagram showing a wave receiving processing system for a reflected signal or the like of the underwater acoustic search system according to the third embodiment of the present invention. FIG. 6 is an explanatory view conceptually showing the principle of synthetic aperture search in the case where the seafloor is set as a search target. FIG. 7 is an explanatory diagram conceptually showing reproduced images at respective positions A to C in the synthetic aperture search shown in FIG. 6 and synthetic images thereof. [Description of Signs] A, B, C Position 1 Underwater Vessel 2 Underwater 3 Submarine 4 Transceiver 5 Target 6, 6a, 6b Responder 10 Sensor 11 Low Pass Filter 12 High Pass Filter 13, 16 Sound Divider 14 Image Reproducer 15 position information supply unit 17 responder position detection unit 18 image correction unit 19 image synthesis unit 20 monitor 21 sound wave level detection unit

   ────────────────────────────────────────────────── ─── Continuation of front page    (72) Inventor Tomohiro Watanabe             No. 1-1 Akunouramachi, Nagasaki City, Nagasaki Prefecture Mitsubishi Heavy Industries             In Nagasaki Shipyard Co., Ltd. F-term (reference) 2G064 AB13 AB29 BA05 CC46                 5J083 AA02 AA03 AB08 AC28 AD13                       AD18 AE06 AE07 AF18 BC02                       BD12 CA13 DC02 EA10 EA34

Claims (1)

Claims 1. A sound wave emitted from a transmitter mounted on an underwater vehicle traveling in water and reflected by a target to be searched, such as the sea floor, returns the sound wave. The information of the target is obtained by detecting with the sensor means of the wave receiving means,
Repeat the same transmission and reception while running the underwater vehicle,
In an underwater acoustic search method for combining and processing information of a target obtained at each transmission / reception position, a transmission unit that intermittently transmits or reflects a specific sound wave toward the sensor unit is disposed on the search target. In addition, at the time of transmission / reception at each position accompanying the traveling of the underwater vehicle, the sound wave from the transmission means is also received, and the transmission / reception measured at each of the transmission / reception positions based on the sound wave. The positions of the theoretical underwater vehicle and the sensor means specified by the speed, direction, time, etc. of the underwater vehicle are corrected by the respective transmission / reception positions so that the positions of the means overlap. An underwater acoustic exploration method, comprising synthesizing each piece of received wave information at each transmitted and received wave position based on each piece of corrected received wave information obtained as described above to reproduce the search target including the target. 2. The underwater acoustic exploration method according to claim 1, wherein a plurality of wave transmitting means are arranged in an object to be searched, and sound waves from the respective wave transmitting means are processed in parallel to transmit and receive the sound. The positions of the underwater vehicle and the sensor means are corrected at the respective transmission / reception positions so that the respective positions of the respective transmission means actually measured at the positions overlap with each other, and the respective transmission / reception information is corrected based on the reception information after the correction. An underwater acoustic exploration method, comprising synthesizing each piece of received wave information at a position and reproducing the search object including the target. 3. The underwater acoustic exploration method according to claim 1 or 2, wherein a responder that receives a sound wave from the transmitter and emits a sound wave of a predetermined frequency is used as the wave transmitting means. An underwater acoustic exploration method characterized by the following. 4. The underwater acoustic exploration method according to claim 1 or 2, wherein a reflector that reflects a sound wave from the transmitter is used as the wave transmitting means. Exploration method. 5. The underwater acoustic exploration method according to claim 1 or 2, wherein a sound wave generator for autonomously and intermittently transmitting a sound wave is used as the wave transmitting means. Underwater acoustic exploration method. 6. An underwater vehicle that sails underwater,
While emitting a sound wave toward the search target, in an underwater acoustic detection system including a transmitting and receiving means for receiving the sound wave reflected by the target of the search target by the sensor unit, a specific sound wave is provided to the search target An output signal of an intermittently transmitting or reflecting wave transmitting means, and an output signal of a sensor means for receiving the sound wave transmitted or reflected by the wave transmitting means together with the sound wave reflected by the target, Processes output signals based on sound waves received based on waves transmitted at different positions along with the running, and calculates the position coordinates of the underwater vehicle and the sensor means so that the positions of the transmitting means at each transmitting and receiving position match. A correction unit that corrects information, and corrects information of a search target including a target at each transmission / reception position based on the correction value; anda synthesis unit that synthesizes the information of the search target corrected by the correction unit. Underwater acoustic exploration system that butterflies. 7. The underwater acoustic exploration system according to claim 6, wherein a plurality of the wave transmitting means are arranged in an object to be searched, and the correcting means comprises a transmitting means for receiving each of the waves received by the sensor means. The position of the underwater vehicle and the sensor means are corrected at each of the transmitting and receiving positions so that the sound waves from the means are processed in parallel and the positions of the transmitting means measured at the transmitting and receiving positions overlap each other. An underwater acoustical exploration system, characterized in that: 8. The underwater acoustic sounding system according to claim 6 or 7, wherein the transmitting means receives a sound wave from the transmitter and is different from a sound wave emitted from the transmitting apparatus. The compensator has a function of separating the output signal of the sensor into the reflected wave from the target and the emitted wave from the responder by including a filter. An underwater acoustic exploration system characterized by the following. 9. The underwater acoustic sounding system according to claim 6 or 7, wherein the transmitting means receives the sound wave from the transmitter and is the same as the sound wave emitted from the transmitter. The correction means comprises a responder which emits a sound wave of a frequency, and the correction means provides a threshold value based on the level of the received sound wave and detects whether the value is less than or greater than the threshold value. An underwater acoustic search system having a function of separating a reflected wave from a target and an emitted wave from a responder. 10. The underwater acoustic search system according to claim 6 or claim 7, wherein the wave transmitting means comprises a reflector for reflecting a sound wave from the transmitter, and the correcting means comprises a receiving means. A position where the level of the acoustic wave is highest is regarded as a position of the transmitting means, and a correction process is performed so that the position of the transmitting means overlaps at each transmitting / receiving position. system. 11. The underwater acoustic exploration system according to claim 6 or claim 7, wherein the transmitting means autonomously and intermittently outputs a sound wave having a frequency different from a sound wave emitted from the transmitter. An underwater acoustic search system, comprising: a sound wave generator that transmits a wave to the vehicle; and a correction unit that corrects the position of the transmission unit so that the transmission and reception overlap at the position.