JP2008261727A - Phasing device, phasing method, and phasing program for towed sonar - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a towed sonar or the like capable of fixing the azimuth of phasing on a map even if the arrangement of a towed array becomes nonlinear, and moreover capable of identifying the phasing azimuth easily. <P>SOLUTION: Deviation amounts of the positions of receivers 211-21n are measured by compasses 341-34n, and based on the deviation amounts a coordinate calculation circuit 35 calculates coordinates (x1, y1)-(xn, yn) of the receivers 211-21n. Consequently, even if the receivers 211-21n are not located in a line, the positions of the receivers 211-21n are precisely acquired as the coordinates (x1, y1)-(xn, yn). Based on those coordinates (x1, y1)-(xn, yn), a delay amount calculation circuit 36 calculates delay amounts t1-tn so that the receivers 211-21n receive sound waves S1-Sn from specific azimuths, and phasing circuits 371-37n adjust and synchronize the phases ϕ1-ϕn of electric signals s1-sn converted by the receivers 211-21n so that their delay amounts become these amount values t1-tn. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a phasing technique for a receiving beam or a transmitting beam of a towed sonar.

  A towed passive sonar that receives and processes the sound generated by a target in water with a towed array consisting of a group of receivers arranged in a straight line, and detects the presence and direction of the target from the direction in which the sound is received. Known (for example, Patent Document 1). FIG. 19 is a block diagram showing an example of a conventional towed sonar. FIG. 20 is a plan view showing a usage state of a conventional towed sonar. Hereinafter, a description will be given based on FIGS. 19 and 20.

  The illustrated towed sonar 70 is a passive sonar, and is divided into a towed array 80 towed underwater or water by a towed ship 71 and a signal processing device 90 installed in the towed ship 71. The towed array 80 includes a plurality of receivers 811 to 81n that receive sound waves S1 to Sn and convert them into electrical signals s1 to sn connected by a cable 82. The signal processing device 90 includes a phasing device 91, an adding circuit 92, a display unit 93, and the like. The phasing device 91 includes a delay amount setting circuit 94 and phasing circuits 951 to 95n. The delay amount setting circuit 94 sets the delay amounts t1 to tn so that the receivers 811 to 81n receive the sound waves S1 to Sn from a specific direction. The phasing circuits 951 to 95n adjust the phases φ1 to φn of the electrical signals s1 to sn converted by the receivers 811 to 81n so that the delay amounts t1 to tn calculated by the delay amount setting circuit 94 are obtained. The adder circuit 92 adds the electrical signals s1 ′ to sn ′ whose phases φ1 to φn are adjusted, and outputs the summed signal ss to a display unit 93 such as an LCD.

  Here, in order for each of the receivers 811 to 81n to receive the sound waves S1 to Sn of the received beam 72 from each direction in increments of Δθ ° from 0 ° indicating north, the delay amount setting circuit 94 is set for each Δθ °. Different delay amounts t1 to tn are set. In this way, a different sum signal ss is obtained for each Δθ ° from the adder circuit 92, and when this is displayed on the display unit 93, a radar chart showing the intensity of the received beam 72 for each direction is obtained.

  FIG. 21 is an explanatory view showing the principle of phasing in a conventional towed sonar. Hereinafter, a description will be given with reference to FIGS.

  Consider a case in which the phasing azimuth 73 is set to a 60 ° azimuth clockwise when the receivers 811 to 81n are linearly arranged in a 0 ° azimuth. First, as shown in FIG. 21 [1], the receivers 811 to 81 n are virtually moved in the opposite direction to the phasing direction 73, and the receivers 811 to 81 n are linearly moved in the direction orthogonal to the phasing direction 73. Line up in a shape. At this time, if the distances of the receivers 811 to 81n before and after the movement are d1 to dn (d1 = 0) and the sound speed is v, the delay amounts are t1 = d1 / v and t2 = d2 / v,..., tn = dn / v.

  In other words, the phasing circuits 951 to 95n delay the electric signals s1 to sn converted by the respective receivers 811 to 81n by delay amounts t1 to tn, respectively, with respect to the received beam 74 coming from the phasing direction 73. At the same time, the electric signals s1 ′ to sn ′ are output. As a result, the combined signal ss obtained by adding the electrical signals s1 ′ to sn ′ can be strengthened, so that the towing array 80 has directivity in the phasing direction 73.

  In this way, the towed sonar 70 phasing each received beam toward the relative azimuth relative to the towed course, and assuming the beam azimuth is stable, The first detection is obtained by integrating for a long time for a weak signal.

Japanese Patent No. 2533287

  The towed sonar 70 described above performs phasing and long-time integration of a received beam in a relative direction. This is based on the premise that the direction of the received beam is fixed on the map while the towed vessel 71 keeps the towed array 80 straight by navigating the same course.

  Here, as shown in FIG. 21 [2], when the towed vessel 71 turns, the towed array 80 is bent and becomes non-linear. However, since the delay amounts t1 to tn do not change regardless of the presence or absence of turning, the phasing direction 73 cannot be maintained at 60 ° as shown in the figure.

  Further, as indicated by phantom lines in FIG. 21 [3], the phasing direction corresponding to the delay amounts t1 to tn is not only 60 ° (phasing azimuth 73) but −60 ° (phasing azimuth 73 ′). Also exists. That is, the directivity of the towed array 80 is symmetrical. Therefore, in order to determine the direction, it is necessary to once again perform phasing and long-time integration of the received beam after the towed vessel 71 turns to linearize the towed array 80.

  As described above, in the towed sonar 70, when the towed vessel 71 turns for the left / right determination after obtaining the first detection, the shape of the towed array 80 is deformed and the direction of the received beam is shifted, so that it is fixed on the map. There is a problem in that integration for a long time in a given direction is interrupted and the detection situation is deteriorated.

  Therefore, an object of the present invention is to provide a towed sonar or the like that can fix the phasing direction on the map even if the towing array becomes non-linear, and can easily specify the phasing direction.

  The phasing device according to the present invention is used in a towed sonar having a towed array in which a plurality of receivers that receive sound waves and convert them into electrical signals are connected by cables. The phasing device according to the present invention is characterized by a deviation amount sensor for measuring a deviation amount of the position of each receiver, and each of the receivers based on the deviation amount measured by the deviation amount sensor. A coordinate calculation unit that calculates the coordinates of the wave detector, and a delay amount so that each of the wave receivers receives the sound wave from a specific direction based on the coordinates of the wave receivers calculated by the coordinate calculation unit. And a phasing unit that adjusts the phase of the electrical signal converted by each receiver so as to be the delay amount calculated by the delay amount calculation unit. (Claim 1).

  The shift amount sensor measures the shift amount of the position of each receiver, and the coordinate calculation unit calculates the coordinates of each receiver based on the shift amount. Therefore, even if each receiver is not arranged in a straight line, the position of each receiver can be accurately captured as coordinates. Then, based on those coordinates, the delay amount calculation unit calculates the delay amount so that each receiver receives a sound wave from a specific direction, and the phasing unit sets each receiver so that these delay amounts are obtained. Adjust the phase of the electrical signal converted by. As described above, in the past, the only delay amount corresponding to the phasing direction was set regardless of the shape of the towed array, but in the present invention, the shape of the towed array is always set so that the phasing direction is always constant. The amount of delay is changed according to Therefore, according to the present invention, the phasing direction can be fixed on the map even if the towed array becomes non-linear due to turning of the towed ship or the like. Further, conventionally, since the phasing direction when the towed array is linear is adopted, it is necessary to determine which of the two phasing directions it is. On the other hand, in the present invention, by adopting the phasing direction when the towed array is non-linear, there is only one phasing direction, so there is no need to determine the phasing direction. The “sound wave” here includes vibrations of any frequency, and of course, also includes ultrasonic waves.

  At this time, the deviation amount sensor is a compass provided in each of the receivers, and the coordinate calculation unit is known to each of the azimuth information which is a deviation amount measured by the respective compass. The coordinates of the respective receivers may be calculated geometrically based on the length between the receivers (claim 2). If the direction of each receiver is known by the compass and the distance between each receiver is known, the coordinates of each receiver can be calculated by the principle of triangulation. Therefore, the coordinates of each receiver can be obtained by a simple device called a compass.

  A towed sonar according to the present invention comprises the phasing device according to the present invention and the towed array (claim 6). According to the towed sonar according to the present invention, the phasing direction can be fixed on the map even if the towed array becomes non-linear, and the phasing direction is determined by providing the phasing device according to the present invention. The work to do can be made unnecessary.

  The phasing method according to the present invention is used in a towed sonar having a towed array in which a plurality of receivers that receive sound waves and convert them into electrical signals are connected by cables. The phasing method according to the present invention is characterized by measuring the shift amount of the position of each receiver and calculating the coordinates of each receiver based on the measured shift amount. Based on the coordinates of each received receiver, a delay amount is calculated so that each receiver receives the sound wave from a specific direction, and each of the receivers is set to have the calculated delay amount. The phase of the electric signal converted by the corrugator is adjusted (claim 8).

  A phasing program according to the present invention includes a towing array in which a plurality of receivers that receive sound waves and convert them into electrical signals are connected by cables, and a deviation that measures the amount of deviation of the position of each receiver. Used in a towed sonar having a displacement sensor and a computer. The characteristics of the phasing program according to the present invention are calculated by coordinate calculation means for calculating the coordinates of each receiver based on the shift amount measured by the shift amount sensor, and by the coordinate calculation means. Based on the coordinates of each receiver, a delay amount calculating means for calculating a delay amount so that each of the receivers receives the sound wave from a specific direction, and a delay amount calculated by the delay amount calculating means The phase adjusting means for adjusting the phase of the electrical signal converted by each of the receivers is caused to function in the computer (claim 10).

  The phasing device according to the present invention is used in a towed sonar including a towed array in which a plurality of transmitters that convert electric signals into sound waves and transmit them are connected by cables. The phasing device according to the present invention is characterized by a deviation amount sensor for measuring a deviation amount of the position of each transmitter, and each of the transmission units based on the deviation amount measured by the deviation amount sensor. Based on the coordinates of the transmitters calculated by the coordinate calculator and the coordinates of each transmitter calculated by the coordinate calculator, the delay amount is set so that each transmitter transmits the sound wave in a specific direction. A delay amount calculation unit to calculate, and a phasing unit that adjusts the phase of the electrical signal converted by each transmitter so as to be the delay amount calculated by the delay amount calculation unit ( Claim 3).

  The shift amount sensor measures the shift amount of the position of each transmitter, and the coordinate calculation unit calculates the coordinates of each transmitter based on the shift amount. Therefore, even if each transmitter is not arranged in a straight line, the position of each transmitter can be accurately captured as coordinates. Then, based on those coordinates, the delay amount calculation unit calculates the delay amount so that each transmitter transmits a sound wave in a specific direction, and the phasing unit at each transmitter so that these delay amounts are obtained. Adjust the phase of the electrical signal to be converted. As described above, in the past, the only delay amount corresponding to the phasing direction was set regardless of the shape of the towed array, but in the present invention, the shape of the towed array is always set so that the phasing direction is always constant. The amount of delay is changed according to Therefore, according to the present invention, the phasing direction can be fixed on the map even if the towed array becomes non-linear due to turning of the towed ship or the like. Conventionally, there are two phasing orientations in order to adopt the phasing orientation when the towing array is linear. On the other hand, in the present invention, by adopting the phasing direction when the towing array is non-linear, the phasing direction is only one, so that the sound wave can be transmitted only in one azimuth. The “sound wave” here includes vibrations of any frequency, and of course, also includes ultrasonic waves.

  At this time, the shift amount sensor is a compass provided in each of the transmitters, and the coordinate calculation unit is known to each of the azimuth information that is a shift amount measured by the respective compass. The coordinates of each transmitter may be calculated geometrically based on the length between the transmitters. If the compass indicates the azimuth of each transmitter and the distance between each transmitter is known, the coordinates of each transmitter can be calculated by the principle of triangulation. Therefore, the coordinates of each transmitter can be obtained by a simple device called a compass.

  A towed sonar according to the present invention comprises the phasing device according to the present invention and the towed array (claim 7). According to the towed sonar according to the present invention, by providing the phasing device according to the present invention, the phasing direction can be fixed on the map even if the towed array becomes non-linear, and only one phasing is possible. Sound waves can be transmitted in the direction.

  The phasing method according to the present invention is used in a towed sonar having a towed array in which a plurality of transmitters that convert electric signals into sound waves and transmit them are connected by cables. The phasing method according to the present invention is characterized in that a deviation amount of the position of each transmitter is measured, and coordinates of the respective transmitters are calculated based on the measured deviation amount. Based on the coordinates of each of the transmitted transmitters, the delay amount is calculated so that each of the transmitters transmits the sound wave in a specific direction, and each of the transmitted waves is set to have the calculated delay amount. The phase of the electrical signal converted by the instrument is adjusted (claim 9).

  The phasing program according to the present invention includes a towed array formed by connecting a plurality of transmitters that convert electrical signals into sound waves and connected by cables, and a deviation that measures a shift amount of each transmitter. Used in a towed sonar having a displacement sensor and a computer. The characteristics of the phasing program according to the present invention are calculated by the coordinate calculation means for calculating the coordinates of each transmitter based on the deviation amount measured by the deviation amount sensor, and the coordinate calculation means. Based on the coordinates of each transmitter, a delay amount calculating means for calculating a delay amount so that each of the transmitters transmits the sound wave in a specific direction, and a delay amount calculated by the delay amount calculating means The phasing means for adjusting the phase of the electrical signal converted by each of the transmitters is caused to function in the computer (claim 11).

  The phasing device according to the present invention is a towing comprising a plurality of transducers connected by a cable that can switch between an operation of converting an electrical signal into a sound wave and transmitting and an operation of receiving a sound wave and converting it into an electrical signal. Used for towed sonar with array. The phasing device according to the present invention is characterized by a deviation amount sensor that measures a deviation amount of the position of each of the transducers, and each of the transmission and reception units based on the deviation amount measured by the deviation amount sensor. Based on the coordinate calculation unit for calculating the coordinates of the wave device, and the coordinates of the wave transducers calculated by the coordinate calculation unit, so that each of the wave transmitters transmits the sound wave in a specific direction, or A delay amount calculation unit that calculates a delay amount so that each transducer receives the sound wave from a specific direction, and each of the transducers so that the delay amount is calculated by the delay amount calculation unit. And a phasing unit that adjusts the phase of the electrical signal converted into the sound wave or the phase of the electrical signal converted from the sound wave in each of the transducers (Claim 5).

  First, a transducer is operated as a transducer that converts electrical signals into sound waves and transmits them. At this time, the shift amount sensor measures the shift amount of the position of each transducer, and the coordinate calculation unit calculates the coordinates of each transducer based on the shift amount. Therefore, even if the transducers are not arranged in a straight line, the position of each transducer is accurately captured as coordinates. Then, based on those coordinates, the delay amount calculation unit calculates the delay amount so that each transducer transmits a sound wave in a specific direction, and the phasing unit is at each transducer so that these delay amounts are obtained. Adjust the phase of the electrical signal to be converted. As described above, in the past, the only delay amount corresponding to the phasing direction was set regardless of the shape of the towed array, but in the present invention, the shape of the towed array is always set so that the phasing direction is always constant. The amount of delay is changed according to Therefore, according to the present invention, the phasing direction can be fixed on the map even if the towed array becomes non-linear due to turning of the towed ship or the like. Conventionally, there are two phasing orientations in order to adopt the phasing orientation when the towing array is linear. On the other hand, in the present invention, by adopting the phasing direction when the towing array is non-linear, the phasing direction is only one, so that the sound wave can be transmitted only in one azimuth.

  Subsequently, the transducer is operated as a receiver that receives sound waves and converts them into electrical signals. At this time, the shift amount sensor measures the shift amount of the position of each transducer, and the coordinate calculation unit calculates the coordinates of each transducer based on the shift amount. Therefore, even if the transducers are not arranged in a straight line, the position of each transducer is accurately captured as coordinates. Then, based on those coordinates, the delay amount calculation unit calculates the delay amount so that each transducer receives a sound wave from a specific direction, and the phasing unit sets each transducer so that these delay amounts are obtained. Adjust the phase of the electrical signal converted by. As described above, in the past, the only delay amount corresponding to the phasing direction was set regardless of the shape of the towed array, but in the present invention, the shape of the towed array is always set so that the phasing direction is always constant. The amount of delay is changed according to Therefore, according to the present invention, the phasing direction can be fixed on the map even if the towed array becomes non-linear due to turning of the towed ship or the like. Further, conventionally, since the phasing direction when the towed array is linear is adopted, it is necessary to determine which of the two phasing directions it is. On the other hand, in the present invention, by adopting the phasing direction when the towed array is non-linear, there is only one phasing direction, so there is no need to determine the phasing direction.

  As described above, the towed sonar operates as an active sonar when the transmitter / receiver transmits the sound wave and receives the returned sound wave. The “sound wave” here includes vibrations of any frequency, and of course, also includes ultrasonic waves.

  Next, the present invention will be summarized. The conventional towed sonar has long-term integration with the receiving beam phasing in relative orientation, which keeps the towed array straight by the towed ship navigating the same course, It is assumed that the direction of the received beam is fixed on the map. However, if the head is turned for right / left judgment after obtaining the first detection, the shape of the towed array is deformed and the direction of the received beam is shifted, so that the long-time integration to the fixed direction on the map is interrupted, and the detection is performed. There is a problem that the situation gets worse. Therefore, in the towed sonar according to the present invention, a deviation amount sensor such as a compass for measuring each receiver position deviation amount in real time, a coordinate calculation circuit for calculating each receiver coordinate from the sensor measurement value, and each receiver. It has a delay amount calculation circuit that calculates the delay amount from the waver coordinates, and a phasing circuit that performs phasing by the delay amount, and receives the received beam in a fixed direction on the map regardless of the shape of the towing array that changes due to towing. Can be formed.

  According to the present invention, the phasing direction can always be made constant by changing the delay amount for each receiver in accordance with the shape of the towing array, so that the phasing direction can be mapped even if the towing array becomes non-linear. Can be fixed above. In addition, by adopting the phasing direction when the towing array is non-linear, there is only one phasing direction, so the work of determining the phasing direction can be eliminated.

  In other words, the first effect is that the receiving beam can be stably formed in a fixed direction on the map regardless of the change in the shape of the towed array. The signal processing gain of integration can be maintained. The second effect is that when the towed vessel meanders and the shape of the towed array is intentionally curved, separate received beams that are not symmetrical are stably formed in a fixed direction on the map. The target orientation can be discriminated without performing the turning operation while continuously capturing the.

  FIG. 1 is a block diagram showing a first embodiment of a phasing device and a towed sonar according to the present invention. FIG. 2 is a plan view showing a usage state of the towed sonar of FIG. Hereinafter, description will be given based on these drawings.

  The towed sonar 10 is a passive sonar, and is divided into a towed array 20 towed underwater or water by the towed ship 11 and a signal processing device 30 installed in the towed ship 11. The towed array 20 includes a plurality of receivers 211 to 21 n that receive sound waves S <b> 1 to Sn and convert them into electrical signals s <b> 1 to sn connected by a cable 22. The signal processing device 30 includes a phasing device 31, an adding circuit 32, a display unit 33, and the like. The receivers 211 to 21 n and the signal processing device 30 are electrically connected via the cable 22.

  The phasing device 31 includes compasses 341 to 34n, a coordinate calculation circuit 35, a delay amount calculation circuit 36, and phasing circuits 371 to 37n. These coordinate calculation circuit 35, delay amount calculation circuit 36, and phasing circuits 371 to 37n are realized by, for example, a digital circuit designed by a hardware description language.

  The receivers 211 to 21n may be general passive sonar components such as a piezoelectric element, a magnetostrictive element, and a microphone, and an amplifier circuit or the like is attached as necessary.

  One compass 341 to 34n is provided for each of the receivers 211 to 21n, and operates as a shift amount sensor that measures the shift amount of the position of the receivers 211 to 21n. As types of the compass 341 to 34n, there are a combination of a magnetic needle and a rotary encoder, a gyro compass, and the like. The compasses 341 to 34n are also electrically connected to the signal processing device 30 via the cable 22.

  The coordinate calculation circuit 35 calculates the coordinates (x1, y1) to (xn, yn) of the receivers 211 to 21n based on the shift amounts measured by the compasses 341 to 34n. Specifically, based on the azimuths θ1 to θn of the receivers 211 to 21n that are deviation amounts measured by the compasses 341 to 34n and the lengths L1 to Ln between the known receivers 211 to 21n, Geometrically, the coordinates (x1, y1) to (xn, yn) of the receivers 211 to 21n are calculated. A method for calculating the coordinates will be described in detail later.

  Based on the coordinates (x1, y1) to (xn, yn) of the receivers 211 to 21n calculated by the coordinate calculating circuit 35, the delay amount calculating circuit 36 allows the receivers 211 to 21n to emit sound waves from a specific direction. Delay amounts t1 to tn are calculated so as to receive S1 to Sn.

  The phasing circuits 371 to 37n adjust the phases φ1 to φn of the electrical signals s1 to sn converted by the receivers 211 to 21n so that the delay amounts t1 to tn calculated by the delay amount calculation circuit 36 are obtained. The phasing circuits 371 to 37n are also called phase shifters, and are general circuits used for phased arrays.

  The adder circuit 32 adds the electrical signals s1 ′ to sn ′ with the phases φ1 to φn adjusted, and outputs the summed signal ss to the display unit 33 such as an LCD.

  Here, in order for the receivers 211 to 21n to receive the sound waves S1 to Sn of the received beam 12 from each direction in increments of 0 [deg.] From 0 [deg.] Indicating north, the delay amount calculation circuit 36 differs for each [Delta] [theta] [deg.]. Delay amounts t1 to tn are set. In this way, a different sum signal ss is obtained for each Δθ ° from the adder circuit 32, and when this signal is displayed on the display unit 33, a radar chart showing the strength of the received beam 12 for each direction is obtained.

  FIG. 3 is an explanatory diagram showing the principle of phasing in the phasing device of FIG. Hereinafter, description will be given with reference to FIGS.

  When the receivers 211 to 21n are arranged in a straight line, the operation of the phasing device 31 is the same as the conventional one. Here, a case is considered in which when the receivers 211 to 21n are bent and arranged in a non-linear manner, the phasing direction 13 is set to 60 ° in the clockwise direction. First, as shown in FIG. 3 [1], the delay amount calculation circuit 36 virtually moves the receivers 211 to 21n in the opposite direction to the phasing direction 13, and moves the receivers 211 to 21n to the phasing direction. They are arranged in a straight line in a direction orthogonal to 13. When the distances of the receivers 211 to 21n before and after the movement are d1 to dn (where dn = 0) and the sound speed is v, the delay amounts are t1 = d1 / v and t2 = d2 / v, respectively. ,..., Tn = dn / v. At this time, since the coordinates (x1, y1) to (xn, yn) before the movement of the receivers 211 to 21n are obtained by the coordinate calculation circuit 25, before and after the movement of the receivers 211 to 21n is obtained. The distances d1 to dn are also obtained geometrically.

  In other words, the phasing circuits 371 to 37n delay the electrical signals s1 to sn converted by the receivers 211 to 21n by delay amounts t1 to tn, respectively, with respect to the received beam 14 coming from the phasing direction 13. At the same time, the electric signals s1 ′ to sn ′ are output. As a result, the combined signal ss obtained by adding the electrical signals s1 ′ to sn ′ can be strengthened, so that the towing array 20 has directivity in the phasing direction 13.

  Further, the phasing direction corresponding to the delay amounts t1 to tn at this time is only the phasing direction 13 of 60 °. As indicated by phantom lines in FIG. 3 [2], the phasing direction 13 ′ of −60 ° is the case where the distances d1 ′ to dn ′ before and after the movement of the receivers 211 to 21n are 60 °. This is because it does not correspond to the delay amounts t1 to tn.

  Next, the operation and effect of the phasing device of this embodiment will be described with reference to FIGS.

  The compasses 341 to 34n measure the shift amounts of the positions of the receivers 211 to 21n, and based on the shift amount, the coordinate calculation circuit 35 uses the coordinates (x1, y1) to (xn, yn) of the receivers 211 to 21n. ) Is calculated. Therefore, even if the receivers 211 to 21n are not arranged in a straight line, the positions of the receivers 211 to 21n can be accurately captured as coordinates (x1, y1) to (xn, yn). Based on the coordinates (x1, y1) to (xn, yn), the delay amount calculation circuit 36 delays t1 to tn so that the receivers 211 to 21n receive the sound waves S1 to Sn from a specific direction. And the phasing circuits 371 to 37n adjust the phases φ1 to φn of the electric signals s1 to sn converted by the receivers 211 to 21n so that these delay amounts t1 to tn are obtained.

  As described above, conventionally, the only delay amount corresponding to the phasing direction is set regardless of the shape of the towing array, whereas in this embodiment, the towing array 20 is always set so that the phasing direction is constant. The delay amounts t1 to tn are changed in accordance with the shape. Therefore, according to the present embodiment, the phasing direction 13 can be fixed on the map even if the towed array 20 becomes non-linear due to turning of the towed ship 11 or the like.

  Further, conventionally, since the phasing direction when the towed array is linear is adopted, it is necessary to determine which of the two phasing directions it is. On the other hand, in this embodiment, since the phasing direction 13 is adopted by adopting the phasing direction 13 when the towing array 20 is non-linear, it is necessary to determine the phasing direction. Absent. The “sound wave” here includes vibrations of any frequency, and of course, also includes ultrasonic waves.

  FIG. 4 is an explanatory view showing a coordinate detection method of the receiver in the phasing device of FIG. Hereinafter, description will be given based on this drawing.

  .. Are provided one by one in the receivers 211,... And output the orientations θ1,. The azimuths θ1,... Are values when north is 0 °, and the counterclockwise direction is positive. The lengths L1 to Ln between the receivers 211 to 21n are known. For example, when the tow ship 11 is set to the origin (0, 0), the coordinates (x1, y1) of the receiver 211 are given by (L1sinθ1, −L1cosθ1). Similarly, the coordinates (x2, y2) of the receiver 212 are given by (x1 + L2sin θ2, y1−L2 cos θ2), and the coordinates (xm, ym) of the mth receiver 21m are (xm−1 + Lmsin θm, ym−). 1−Lmcos θm).

  According to the present embodiment, the coordinates (x1, y1),... Of the receivers 211,.

  Next, the phasing device and towed sonar of this embodiment will be described in more detail based on FIGS.

  As shown in FIG. 2, the towed sonar 10 is a passive sonar composed of a towed array 20 towed by the towed ship 11 and a signal processing device 30 placed in the towed ship 11. Output signals from the receivers 211 to 21 n constituting the towing array 20 are sent to the signal processing device 30 through the cable 22. As shown in FIG. 1, the signals sent to the signal processing device 30 are processed and added by phasing circuits 371 to 37n (providing delay time and the like) to become a sum signal ss which is a received beam output.

  The phasing device 31 includes a compass 341 to 34n as a deviation amount sensor, a coordinate calculation circuit 35 for obtaining position information of the receivers 211 to 21n based on measurement values from the compass 341 to 34n, and a position calculation for the position calculation. Based on the delay amount calculation circuit 36 for calculating the delay amount (delay time) so that the phase of the sound wave from the fixed direction on the map matches each received beam 12 based on the phase, the delay amount from the delay amount calculation circuit 36 adjusts the phase. And phasing circuits 371 to 37n.

  Operations of the phasing device 31 and the towed sonar 10 will be described. Regarding the calculation of phasing (delay time, etc.), consider the case of phasing in the direction of 60 ° with respect to the towing array 20 plane.

  First, the prior art will be described. As shown in FIG. 21 [1], when the towing array 80 is a straight line, incoming sound waves are received by the receivers 811 to 81n. If the time t1 to tn during which sound waves corresponding to the distances d1 to dn indicated by the arrows in the figure are transmitted is delayed with respect to this signal, the signal is the same as when received on the phasing surface. Further, as shown in FIG. 21 [2], when the towing array 80 is a curved surface, it is assumed that the towing array 80 is a straight line and faces in a certain direction, and the same delay amount t1 to t1 as in FIG. 21 [1]. tn is given and phased. Therefore, the phasing surface becomes a curved surface and cannot be phased in a desired direction.

  On the other hand, in this embodiment, the position of the towed array 20 is calculated, and delay amounts t1 to tn are given so that the phasing surface is in a fixed direction, and phasing is performed. Thus, the direction of the receiving beam 12 is fixed on the map by giving the delay amounts t1 to tn correspondingly to the position of the changing towed array 20 so as to fix the phasing surface. Can do.

  Next, a first embodiment of the phasing method according to the present invention will be described with reference to FIGS.

  The phasing method of the present embodiment is the same as the contents described as the operation of the phasing device 31 described above. That is, in the phasing method of the present embodiment, a plurality of receivers 211 to 21n that receive the sound waves S1 to Sn and convert them into electric signals s1 to sn and the receivers 211 to 21n are connected by the cable 22. And a towed sonar 10 having a towed array 20 towed by the towed ship 11. The phasing method of the present embodiment is characterized by measuring the azimuths θ1 to θn of the receivers 211 to 21n, and the coordinates (x1, y1) to (xn) of the receivers 211 to 21n based on the azimuths θ1 to θn. , Yn) and based on the coordinates (x1, y1) to (xn, yn), the delay amounts t1 to tn are calculated so that the receivers 211 to 21n receive the sound waves S1 to Sn from a specific direction. Then, the phases φ1 to φn of the electric signals s1 to sn converted by the receivers 211 to 21n are adjusted so that the delay amounts are t1 to tn.

  The operation and effect of the phasing method of the present embodiment are the same as the operation and effect of the phasing device 31 described above.

  FIG. 5 is a block diagram showing an example of computer hardware that operates according to the first embodiment of the phasing program according to the present invention. Hereinafter, the description will be made with reference to FIGS. 1 and 2, focusing on FIG. 5.

  The phasing program 15a of the present embodiment causes the computer 15 to function in the same manner as the coordinate calculation circuit 35, delay amount calculation circuit 36, and phasing circuits 371 to 37n of the phasing device 31 of FIG. That is, the phasing program 15a includes a plurality of receivers 211 to 21n that receive the sound waves S1 to Sn and convert them into electrical signals s1 to sn, and the receivers 211 to 21n are connected by the cable 22 (FIG. 2). And a towed array 20 (FIG. 2) towed by the towed ship 11 (FIG. 2), compass 341-34n for measuring the orientations θ1-θn of the receivers 211-21n, and a signal processing device 30 (FIG. 2). ) And a towed sonar 10 (FIG. 2) having a computer 15 provided therein.

  The computer 15 is a general microcomputer including a CPU 151, a RAM 152, a ROM 153, a bus 154, an input / output interface 155, and the like. The phasing program 15a is loaded into the RAM 152 from an external storage device (not shown) such as a hard disk. The CPU 151 sequentially reads instructions of the phasing program 15a from the RAM 152, interprets the instructions, and executes data processing and movement.

  FIG. 6 is a block diagram illustrating an example of functions of the computer of FIG. Hereinafter, description will be given based on this drawing.

  The characteristic of the phasing program 15a is that the coordinates (x1, y1) to (xn, yn) of the receivers 211 to 21n are calculated based on the orientations θ1 to θn of the receivers 211 to 21n measured by the compasses 341 to 34n. The receivers 211 to 21n receive the sound waves S1 to Sn from a specific direction based on the coordinate calculating unit 35a and the coordinates (x1, y1) to (xn, yn) calculated by the coordinate calculating unit 35a. The delay amount calculation means 36a for calculating the delay amounts t1 to tn and the electrical signals s1 to sn converted by the receivers 211 to 21n so as to be the delay amounts t1 to tn calculated by the delay amount calculation means 36a. And phasing means 37a for adjusting the phases φ1 to φn of the computer 15. In addition to this, the phasing program 15a causes the computer 15 to function as the adding means 32a, similarly to the adding circuit 32 of FIG. That is, the adding means 32a adds the electric signals s1 ′ to sn ′ whose phases φ1 to φn are adjusted by the phasing means 37a, and outputs the summed signal ss to the display unit 33.

  FIG. 7 is a flowchart showing an example of the operation of the computer shown in FIG. Hereinafter, a description will be given with reference to FIGS.

  When the receivers 211 to 21n are arranged in a straight line, the operation of the computer 15 is the same as the conventional one. Here, the operation of the computer 15 will be described when the receivers 211 to 21n are bent in a non-linear manner.

  First, the coordinate calculation means 35a inputs the azimuths θ1 to θn of the receivers 211 to 21n from the compasses 341 to 34n (step 101), and the coordinates (x1, y1) of the receivers 211 to 21n based on the orientations θ1 to θn. ) To (xn, yn) are calculated (step 102).

  Subsequently, the delay amount calculating unit 36a sets the specific direction D to θo ° (step 103), and the receivers 211 to 21n are moved from the direction D based on the coordinates (x1, y1) to (xn, yn). The delay amounts t1 to tn are calculated so as to receive the sound waves S1 to Sn (step 104). Subsequently, the phasing means 37a adjusts the phases φ1 to φn of the electric signals s1 to sn converted by the receivers 211 to 21n so that the delay amounts are t1 to tn (step 105). Subsequently, the adding means 32a adds the electrical signals s1 ′ to sn ′ whose phases φ1 to φn are adjusted, and outputs the summed signal ss to the display unit 33 (step 106).

  Subsequently, the delay amount calculation unit 36a sets a new direction D by adding Δθ ° to the direction D (step 107). Then, the delay amount calculating unit 36a, the phasing unit 37a, and the adding unit 32a execute the processes of steps 104 to 107 for the new direction D. These operations are repeated until D> θe ° (step 108). Thereby, the radar chart which shows the strength of the received beam for each direction is obtained. For example, θo ° = 0 ° and θe ° = 360 °.

  The operation and effect of the phasing program 15a of the present embodiment are the same as the operation and effect of the phasing device 31 of FIG.

  FIG. 8 is a block diagram showing a second embodiment of the phasing device and towed sonar according to the present invention. FIG. 9 is a plan view showing a usage state of the towed sonar of FIG. Hereinafter, description will be given based on these drawings.

  The towed sonar 40 is a transmitting side of the active sonar and is divided into a towed array 41 towed underwater or water by the towed ship 11 and a signal processing device 42 installed in the towed ship 11. The towing array 41 includes a plurality of transmitters 421 to 42n that convert electrical signals s1 to sn into sound waves S1 to Sn and transmit them, and are connected by a cable 22. The signal processing device 42 includes a phasing device 43 and the like. The transmitters 421 to 42n and the signal processing device 42 are electrically connected via the cable 22.

  The phasing device 43 includes compasses 341 to 34n, a coordinate calculation circuit 35, a delay amount calculation circuit 36, and phasing circuits 371 to 37n. These coordinate calculation circuit 35, delay amount calculation circuit 36, and phasing circuits 371 to 37n are realized by, for example, a digital circuit designed by a hardware description language. The compass units 341 to 34n, the coordinate calculation circuit 35, the delay amount calculation circuit 36, and the phasing circuits 371 to 37n have the basic configuration of each of the phasing devices 31 of FIG. 1 except that the received waves are replaced with transmission waves. Since it is the same as a component, it attaches | subjects the same code | symbol as each component of FIG. 1, respectively.

  The wave transmitters 421 to 42n may be general active sonar components such as a piezoelectric element, a magnetostrictive element, and a speaker, and a drive circuit or the like is attached as necessary. One compass 341 to 34n is provided for each of the transmitters 421 to 421n, and operates as a shift amount sensor for measuring the shift amount of the position of the transmitters 421 to 42n.

  The coordinate calculation circuit 35 calculates the coordinates (x1, y1) to (xn, yn) of the transmitters 421 to 42n based on the deviation amounts measured by the compasses 341 to 34n. Specifically, based on the azimuths θ1 to θn of the transmitters 421 to 42n, which are the deviation amounts measured by the compasses 341 to 34n, and the lengths L1 to Ln between the known transmitters 421 to 42n, Geometrically, the coordinates (x1, y1) to (xn, yn) of the transmitters 421 to 42n are calculated. The method for calculating the coordinates is as described above.

  The delay amount calculation circuit 36 calculates delay amounts t1 to tn so that the transmitters 421 to 42n transmit the sound waves S1 to Sn in a specific direction based on the coordinates (x1, y1) to (xn, yn). .

  The phasing circuits 371 to 37n adjust the phases φ1 to φn of the electric signals s1 to sn converted by the transmitters 421 to 42n so that the delay amounts t1 to tn calculated by the delay amount calculation circuit 36 are obtained. The delay amounts t1 to tn are calculated in accordance with the method described with reference to FIG. 3, but the phase is advanced as the delay amounts t1 to tn are increased.

  Here, in order for each of the transmitters 421 to 42n to transmit the sound waves S1 to Sn of the transmission beam 44 in increments of Δθ ° from 0 ° indicating north, the delay amount calculation circuit 36 differs for each Δθ °. Delay amounts t1 to tn are set.

  The compasses 341 to 34n measure the directions θ1 to θn of the transmitters 421 to 42n, and the coordinate calculation circuit 35 uses the coordinates (x1, y1) to (xn, yn) of the transmitters 421 to 42n based on the directions θ1 to θn. ) Is calculated. Therefore, even if the transmitters 421 to 42n are not arranged in a straight line, the positions of the transmitters 421 to 42n can be accurately captured as coordinates (x1, y1) to (xn, yn). Based on the coordinates (x1, y1) to (xn, yn), the delay amount calculation circuit 36 sets the delay amounts t1 to tn so that the transmitters 421 to 42n transmit the sound waves S1 to Sn in a specific direction. The phase adjusting circuits 371 to 37n adjust the phases φ1 to φn of the electric signals s1 to sn converted by the transmitters 421 to 42n so that the delay amounts t1 to tn are calculated.

  As described above, in the past, the only delay amount corresponding to the phasing direction of the transmission beam was set regardless of the shape of the towed array, whereas in this embodiment, the phasing direction of the transmission beam 44 is always set. The delay amounts t1 to tn are changed according to the shape of the towed array 41 so that becomes constant. Therefore, according to the present embodiment, the phasing direction of the transmission beam 44 can be fixed on the map even if the towed array 41 becomes non-linear due to the turning of the towed ship 11 or the like.

  Conventionally, there are two phasing azimuths in order to adopt the phasing azimuth of the transmitted beam when the towing array is linear. On the other hand, in the present embodiment, by adopting the phasing direction of the transmission beam 44 when the towed array 41 is non-linear, the phasing direction is only one, so the azimuth direction is one. Only the sound waves S1 to Sn can be transmitted.

  The “sound wave” here includes vibrations of any frequency, and of course, also includes ultrasonic waves. Further, since the towed sonar 40 is the transmitting side of the active sonar, there is a separate receiving side of the active sonar not shown. Furthermore, although the name of the towed sonar 40 is a sonar, the present invention is not limited to this. For example, the towed sonar 40 may be used as a towed sound wave transmitting device that transmits sound waves in a specific direction.

  Next, a second embodiment of the phasing method according to the present invention will be described with reference to FIGS.

  The phasing method of the present embodiment is the same as the contents described as the operation of the phasing device 43 described above. That is, in the phasing method of the present embodiment, the plurality of transmitters 421 to 42n that convert the electrical signals s1 to sn into the sound waves S1 to Sn and transmit them and the transmitters 421 to 42n are connected by the cable 22. And a towed sonar 40 having a towed array 41 towed by the towed ship 11. The phasing method of this embodiment is characterized by measuring the azimuths θ1 to θn of the transmitters 421 to 42n, and the coordinates (x1, y1) to (xn) of the transmitters 421 to 42n based on the azimuths θ1 to θn. , Yn) and based on the coordinates (x1, y1) to (xn, yn), the delay amounts t1 to tn are calculated so that the transmitters 421 to 42n receive the sound waves S1 to Sn from a specific direction. Then, the phases φ1 to φn of the electrical signals s1 to sn converted by the transmitters 421 to 42n are adjusted so that the delay amounts are t1 to tn.

  The operation and effect of the phasing method of the present embodiment are the same as the operation and effect of the phasing device 43 described above.

  FIG. 10 is a block diagram showing an example of computer hardware that operates according to the second embodiment of the phasing program according to the present invention. Hereinafter, the description will be made with reference to FIGS.

  The phasing program 45a of the present embodiment causes the computer 45 to function in the same manner as the coordinate calculation circuit 35, delay amount calculation circuit 36, and phasing circuits 371 to 37n of the phasing device 43 of FIG. That is, in the phasing program 45a, a plurality of transmitters 421 to 42n that convert electrical signals s1 to sn into sound waves S1 to Sn and transmit them, and the transmitters 421 to 42n are connected by the cable 22 (FIG. 9). And a tow array 41 (FIG. 2) towed by the towed ship 11 (FIG. 9), compass 341-34n for measuring the azimuths θ1-θn of the transmitters 421-42n, and a signal processing device 42 (FIG. 9). ) And a towed sonar 40 (FIG. 9) having a computer 45 provided therein.

  The computer 45 is a general microcomputer including a CPU 151, a RAM 152, a ROM 153, a bus 154, an input / output interface 155, and the like. The phasing program 45a is loaded into the RAM 152 from an external storage device (not shown) such as a hard disk. The CPU 151 sequentially reads instructions of the phasing program 45a from the RAM 152, interprets the instructions, and executes data processing and movement.

  FIG. 11 is a block diagram illustrating an example of functions of the computer of FIG. Hereinafter, description will be given based on this drawing.

  The characteristic of the phasing program 45a is that the coordinates (x1, y1) to (xn, yn) of the transmitters 421 to 42n are calculated based on the directions θ1 to θn of the transmitters 421 to 42n measured by the compasses 341 to 34n. The transmitters 421 to 42n transmit the sound waves S1 to Sn in a specific direction based on the coordinate calculator 35a that performs the calculation and the coordinates (x1, y1) to (xn, yn) calculated by the coordinate calculator 35a. The delay amount calculating means 36a for calculating the delay amounts t1 to tn and the electric signals s1 to sn converted by the transmitters 421 to 42n so as to be the delay amounts t1 to tn calculated by the delay amount calculating means 36a. The phasing means 37a for adjusting the phases φ1 to φn is to cause the computer 45 to function.

  FIG. 11 is a flowchart showing an example of the operation of the computer shown in FIG. Hereinafter, a description will be given with reference to FIGS.

  When the transmitters 421 to 42n are arranged in a straight line, the operation of the computer 45 is the same as the conventional one. Here, the operation of the computer 45 will be described when the transmitters 421 to 42n are bent in a non-linear manner.

  First, the coordinate calculation means 35a inputs the azimuths θ1 to θn of the transmitters 421 to 42n from the compasses 341 to 34n (step 201), and the coordinates (x1, y1) of the transmitters 421 to 42n based on the directions θ1 to θn. ) To (xn, yn) are calculated (step 202).

  Subsequently, the delay amount calculation unit 36a sets the specific direction D to θo ° (step 203), and the transmitters 421 to 42n move to the direction D based on the coordinates (x1, y1) to (xn, yn). Delay amounts t1 to tn are calculated so as to transmit the sound waves S1 to Sn (step 204). Subsequently, the phasing means 37a adjusts the phases φ1 to φn of the electric signals s1 to sn converted by the wave transmitters 421 to 42n so that the delay amounts are t1 to tn (step 205). Subsequently, the wave transmitters 421 to 42n convert the electric signals s1 to sn adjusted in phase φ1 to φn into sound waves S1 to Sn and transmit them (step 206).

  Subsequently, the delay amount calculation unit 36a adds Δθ ° to the direction D to set a new direction D (step 207). Then, the delay amount calculating unit 36a, the phasing unit 37a, and the wave transmitters 421 to 42n execute the processes of steps 204 to 207 for the new direction D. These operations are repeated until D> θe ° (step 208). For example, θo ° = 0 ° and θe ° = 360 °.

  The operation and effect of the phasing program 45a of the present embodiment are the same as the operation and effect of the phasing device 43 of FIG.

  FIG. 13 is a block diagram showing a third embodiment of the phasing device and towed sonar according to the present invention. FIG. 14 is a plan view showing a usage state of the towed sonar of FIG. Hereinafter, description will be given based on these drawings.

  The towed sonar 50 is an active sonar that combines the towed sonar 10 (FIG. 1) of the first embodiment and the towed sonar 40 (FIG. 8) of the second embodiment. The towed array 51 to be towed and the signal processing device 52 installed in the towed ship 11 are divided. The towed array 51 has a plurality of transducers capable of switching between an operation of converting electrical signals s1 to sn into sound waves S1 to Sn and an operation of receiving the sound waves S1 to Sn and converting them into electrical signals s1 to sn. 521 to 52n are connected by the cable 22. The signal processing device 52 includes a phasing device 53 and the like. The transducers 521 to 52n and the signal processing device 52 are electrically connected via the cable 22.

  The phasing device 53 includes compasses 341 to 34n, a coordinate calculation circuit 35, a delay amount calculation circuit 36, phasing circuits 371 to 37n, an addition circuit 32, a display unit 33, and the like. These coordinate calculation circuit 35, delay amount calculation circuit 36, and phasing circuits 371 to 37n are realized by, for example, a digital circuit designed by a hardware description language. The compasses 341 to 34n, the coordinate calculation circuit 35, the delay amount calculation circuit 36, the phasing circuits 371 to 37n, the addition circuit 32, and the display unit 33 are basically the same except that the received wave is replaced with a received wave and transmitted wave. Since the configuration is the same as each component of the phasing device 31 of FIG. 1, the same reference numerals as those of the components of FIG.

  The transducers 521 to 52n may be general active sonar components such as a piezoelectric element, a magnetostrictive element, a speaker and a microphone, and an amplifier circuit and a drive circuit are attached as necessary. One compass 341 to 34n is provided for each of the transducers 521 to 521n, and operates as a deviation amount sensor for measuring the deviation amount of the positions of the transducers 521 to 52n.

  The coordinate calculation circuit 35 calculates the coordinates (x1, y1) to (xn, yn) of the transducers 521 to 52n based on the deviation amounts measured by the compasses 341 to 34n. Specifically, based on the azimuths θ1 to θn of the transducers 521 to 52n, which are deviation amounts measured by the compasses 341 to 34n, and the lengths L1 to Ln between the known transducers 521 to 52n, The coordinates (x1, y1) to (xn, yn) of the transducers 521 to 52n are calculated geometrically. The method for calculating the coordinates is as described above.

  Based on the coordinates (x1, y1) to (xn, yn), the delay amount calculation circuit 36 transmits the sound waves S1 to Sn in a specific direction, or the transducers 521 to 52n. Calculates the delay amounts t1 to tn so that the sound waves S1 to Sn are received from a specific direction.

  The phasing circuits 371 to 37n have phases φ1 of the electrical signals s1 to sn converted into the sound waves S1 to Sn by the transducers 521 to 52n so that the delay amounts t1 to tn calculated by the delay amount calculation circuit 36 are obtained. The phases φ1 to φn of the electric signals s1 to sn converted from the sound waves S1 to Sn by the wave transmitters 521 to 52n are adjusted.

  First, the transducers 521 to 52n are operated as transducers that convert the electrical signals s1 to sn into the sound waves S1 to Sn and transmit them. The compasses 341 to 34n measure the directions θ1 to θn of the transducers 521 to 52n, and the coordinate calculation circuit 35 uses the coordinates (x1, y1) to (xn, yn) of the transducers 521 to 52n based on the directions θ1 to θn. ) Is calculated. Therefore, even if the transducers 521 to 52n are not arranged in a straight line, the positions of the transducers 521 to 52n can be accurately captured as coordinates (x1, y1) to (xn, yn). Based on the coordinates (x1, y1) to (xn, yn), the delay amount calculation circuit 36 sets the delay amounts t1 to tn so that the transducers 521 to 52n transmit the sound waves S1 to Sn in a specific direction. The phase adjusting circuits 371 to 37n adjust the phases φ1 to φn of the electric signals s1 to sn converted by the transducers 521 to 52n so that the delay amounts t1 to tn are calculated.

  Thus, in the present embodiment, the delay amounts t1 to tn are changed according to the shape of the towing array 51 so that the phasing direction of the transmission beam 54 is always constant. Therefore, even if the towed array 51 becomes non-linear due to turning of the towed ship 11 or the like, the phasing direction of the transmission beam 54 can be fixed on the map. Further, by adopting the phasing azimuth of the transmission beam 54 when the towed array 51 is non-linear, the phasing azimuth is only one, so the sound waves S1 to Sn are transmitted only in one azimuth. it can.

  Subsequently, the transmitters / receivers 521 to 52n are operated as receivers that receive the sound waves S1 to Sn and convert them into electrical signals s1 to sn. At this time, the compasses 341 to 34n measure the deviation amounts of the positions of the transducers 521 to 52n, and the coordinate calculation circuit 35 based on the deviation amounts determines the coordinates (x1, y1) to (x) of the transducers 521 to 52n. xn, yn) is calculated. Therefore, even if the transducers 521 to 52n are not arranged in a straight line, the positions of the transducers 521 to 52n can be accurately captured as coordinates (x1, y1) to (xn, yn). Based on the coordinates (x1, y1) to (xn, yn), the delay amount calculation circuit 36 delays t1 to tn so that the transducers 521 to 52n receive the sound waves S1 to Sn from a specific direction. The phase adjusting circuits 371 to 37n adjust the phases φ1 to φn of the electric signals s1 to sn converted by the transducers 521 to 52n so that the delay amounts t1 to tn are obtained.

  Thus, in the present embodiment, the delay amounts t1 to tn are changed according to the shape of the towing array 51 so that the phasing direction of the received beam 55 is always constant. Therefore, even if the towed array 51 becomes non-linear due to turning of the towed ship 11 or the like, the phasing direction of the received beam 55 can be fixed on the map. Further, by adopting the phasing azimuth of the received beam 55 when the towed array 51 is non-linear, there is only one phasing azimuth, so there is no need to determine the phasing azimuth.

  As described above, the towed sonar 50 operates as an active sonar when the transducers 521 to 52n transmit the sound waves S1 to Sn and receive the returned sound waves S1 to Sn. Note that each function of the phasing device 53 and the like may be realized by a computer and a program thereof as in the first and second embodiments. In addition, switching between transmission and reception may be controlled by a computer and its program, similarly to a general active sonar.

  Needless to say, the present invention is not limited to the first to third embodiments. For example, the deviation amount sensor may use two or three transmitters whose coordinates are known instead of the compass, and measure the arrival time of the sound wave from these to the receiver. The coordinates of the receiver and the like are two-dimensional coordinates for the sake of brevity of explanation, but the three-dimensional coordinates may be detected using, for example, a compass and a depth meter.

  FIG. 15 is a plan view showing simulation conditions for Examples and Comparative Examples. FIG. 16 is a pie chart showing a simulation result when traveling straight, FIG. 16 [1] is an example, and FIG. 16 [2] is a comparative example. FIG. 17 is a pie chart showing the simulation result when turning left, FIG. 17 [1] is an example, and FIG. 17 [2] is a comparative example. FIG. 18 is a pie chart showing the simulation results during a right turn, in which FIG. 18 [1] is an example and FIG. 18 [2] is a comparative example. In the following, the phasing device of FIG. 1 is taken as an example (the present invention), and the phasing device of FIG. 19 is taken as a comparative example (prior art), and simulation results thereof will be described with reference to FIGS.

  The towing array has a total length of 300 m, and a receiver is arranged every 1 m, and the operating frequency is 500 Hz. At this time, it is assumed that the towing array is operated following the trajectory shown in FIG.

  First, when going straight, the towing array is a straight line as shown in FIG. Therefore, as shown in FIG. 16, the state of the received beam remains unchanged in both the example and the comparative example. FIG. 16 shows a received beam in a direction of 60 ° with respect to the towing direction, but generally several tens of received beams are formed except for some front and rear angles.

  Subsequently, in the case of a left turn, as shown in FIG. 15, the towed array is a curve, and the direction of the towed array is different from that when traveling straight. For this reason, as shown in FIG. 17 [2], the original received beam in the direction of 60 ° in the comparative example is shifted in the turning direction. On the other hand, in the embodiment, as shown in FIG. 17 [1], the received beam is fixed on the map and is maintained in the same shape as when traveling straight in the 60 ° direction. On the other hand, since the phase is not matched on the opposite side (−60 ° direction), the directivity width is widened and the sensitivity is also lowered. As for the −60 ° direction that appears symmetrically when traveling straight, as shown by the dotted line in FIG. 17 [1], a received beam is created with another phasing, and the received beam is stabilized in the −60 direction. Made. Therefore, if it is not known whether the direction of arrival of the sound wave is right or left when going straight, it can be determined at the time of this left turn.

  Subsequently, in the case of a right turn, as shown in FIG. 15, the towed array is curved and the direction of the towed array is changed. For this reason, as shown in FIG. 18 [2], the received beam is shifted in the turning direction in the comparative example. On the other hand, in the embodiment, as shown in FIG. 18 [1], the received beam is fixed on the map, so the received beams in the 60 ° direction and the −60 ° direction are maintained in the same shape. .

  Therefore, according to the embodiment, the detection is continued in the entire stroke of the towed array, and the received beam is maintained in substantially the same state as when the vehicle travels straight when turning left and turning right. When operated in such a state, the state of FIG. 17 [1] and the state of FIG. 18 [1] are repeated, so that it is possible to distinguish and receive the right direction and the left direction from the beginning. Therefore, the conventional procedure of turning and re-detecting to determine whether it is right or left is unnecessary, and each integration can be continued without interruption, so that both the detection opportunity and accuracy are improved.

1 is a block diagram showing a first embodiment of a phasing device and a towed sonar according to the present invention. It is a top view which shows the use condition of the towed sonar of FIG. It is explanatory drawing which shows the principle of the phasing in the phasing apparatus of FIG. It is explanatory drawing which shows the coordinate detection method of the receiver in the phasing apparatus of FIG. It is a block diagram which shows an example of the hardware of the computer which operate | moves by 1st embodiment of the phasing program concerning this invention. It is a block diagram which shows an example of the function of the computer of FIG. 6 is a flowchart illustrating an example of the operation of the computer in FIG. 5. It is a block diagram which shows 2nd embodiment of the phasing apparatus and towed sonar which concern on this invention. It is a top view which shows the use condition of the towed sonar of FIG. It is a block diagram which shows an example of the hardware of the computer which operate | moves by 2nd embodiment of the phasing program concerning this invention. It is a block diagram which shows an example of the function of the computer of FIG. It is a flowchart which shows an example of operation | movement of the computer of FIG. It is a block diagram which shows 3rd embodiment of the phasing apparatus and towed sonar which concern on this invention. It is a top view which shows the use condition of the towed sonar of FIG. It is a top view which shows the simulation conditions about an Example and a comparative example. It is a pie chart which shows the simulation result at the time of going straight, and Drawing 16 [1] is an example and Drawing 16 [2] is a comparative example. It is a pie chart which shows the simulation result at the time of left turn, and Drawing 17 [1] is an example and Drawing 17 [2] is a comparative example. FIG. 18 [1] is an example, and FIG. 18 [2] is a comparative example. It is a block diagram which shows an example of the conventional towed sonar. It is a top view which shows the use condition of the conventional towed sonar. It is explanatory drawing which shows the principle of the phasing in the conventional towed sonar.

Explanation of symbols

10, 40, 50 Towed Sonar 11 Towing Vessel 12, 55 Received Beam 20, 41, 51 Towed Array 211-21n Receiver 22 Cable 30, 42, 52 Signal Processing Unit 31, 43, 53 Phase Adjuster 32 Addition Circuit 33 Display unit 341-34n Compass (deviation sensor)
35 Coordinate calculation circuit (coordinate calculation unit)
36 Delay amount calculation circuit (delay amount calculation unit)
371-37n phasing circuit (phasing part)
421-42n Transmitter 44, 54 Transmitted beam 521-52n Transmitter / receiver S1-Sn Sound wave s1-sn Electric signal θ1-θn Direction (x1, y1)-(xn, yn) Coordinates t1-tn Delay amount

Claims (11)

In a phasing device used in a towed sonar having a towed array in which a plurality of receivers that receive sound waves and convert them into electrical signals are connected by cables,
A deviation amount sensor for measuring the deviation amount of the position of each receiver;
A coordinate calculation unit that calculates the coordinates of each receiver based on the deviation amount measured by the deviation amount sensor;
A delay amount calculation unit that calculates a delay amount so that each of the receivers receives the sound wave from a specific direction based on the coordinates of each of the receivers calculated by the coordinate calculation unit;
A phasing unit that adjusts the phase of the electrical signal converted by each of the receivers so that the delay amount is calculated by the delay amount calculation unit;
A towed sonar phasing device characterized by comprising: The deviation amount sensor is a compass provided in each receiver.
The coordinate calculation unit geometrically calculates the coordinates of the respective receivers based on the direction information which is the deviation amount measured by each of the compasses and the known length between the respective receivers. To
The phasing device for a towed sonar according to claim 1. In a phasing device used in a towed sonar having a towed array in which a plurality of transmitters that convert electrical signals into sound waves and connected by cables are connected,
A deviation amount sensor for measuring the deviation amount of the position of each transmitter;
A coordinate calculation unit that calculates the coordinates of each of the transmitters based on the deviation amount measured by the deviation amount sensor;
Based on the coordinates of each of the transmitters calculated by the coordinate calculation unit, a delay amount calculation unit that calculates a delay amount so that each of the transmitters transmits the sound wave in a specific direction;
A phasing unit that adjusts the phase of the electric signal converted by each of the transmitters so as to be the delay amount calculated by the delay amount calculation unit;
A towed sonar phasing device characterized by comprising: The deviation amount sensor is a compass provided in each of the transmitters,
The coordinate calculation unit geometrically calculates the coordinates of each transmitter based on the direction information that is the deviation amount measured by each compass and the known length between each transmitter. To
A phased device for a towed sonar according to claim 3. Used for towed sonars equipped with a towed array in which a plurality of transducers that can switch between an operation of converting electrical signals into sound waves and transmitting them and an operation of receiving sound waves and converting them into electrical signals are connected by cables Phased device,
A deviation amount sensor for measuring the deviation amount of the position of each transducer;
A coordinate calculation unit for calculating the coordinates of each transducer based on the deviation amount measured by the deviation amount sensor;
Based on the coordinates of each of the transducers calculated by the coordinate calculation unit, each of the transducers transmits the sound wave in a specific direction, or each of the transducers transmits the sound wave from a specific direction. A delay amount calculation unit that calculates a delay amount so as to receive
The phase of the electrical signal converted into the sound wave by each transducer or the electrical signal converted from the sound wave by each transducer so as to be the delay amount calculated by the delay amount calculation unit. A phasing section for adjusting the phase;
A towed sonar phasing device characterized by comprising:
The phasing device according to claim 1 or 2, the towing array,
A towed sonar characterized by comprising The phasing device according to claim 3 or 4, the towing array,
A towed sonar characterized by comprising
In a phasing method used in a towed sonar having a towed array in which a plurality of receivers that receive sound waves and convert them into electrical signals are connected by cables,
Measure the shift amount of each receiver position,
Calculate the coordinates of each receiver based on the measured deviation amount,
Based on the calculated coordinates of each receiver, a delay amount is calculated so that each receiver receives the sound wave from a specific direction,
To adjust the phase of the electrical signal converted by each receiver so as to be the calculated delay amount,
Towing sonar phasing method characterized by the above. In a phasing method used in a towed sonar having a towed array in which a plurality of transmitters that convert electrical signals into sound waves and connected by cables are connected,
Measure the amount of deviation of the position of each transmitter,
Calculate the coordinates of each transmitter based on the measured deviation amount,
Based on the calculated coordinates of each transmitter, the amount of delay is calculated so that each transmitter transmits the sound wave in a specific direction,
The phase of the electrical signal converted by each transmitter is adjusted so that the calculated delay amount is obtained.
Towing sonar phasing method characterized by the above.
A towing array in which a plurality of receivers that receive sound waves and convert them into electrical signals are connected by a cable, a deviation amount sensor that measures the amount of deviation of the position of each receiver, and a computer, A phasing program used for a towed sonar having
Coordinate calculation means for calculating the coordinates of each receiver based on the deviation amount measured by the deviation amount sensor;
A delay amount calculating means for calculating a delay amount so that each of the receivers receives the sound wave from a specific direction based on the coordinates of each of the receivers calculated by the coordinate calculating means;
Phasing means for adjusting the phase of the electrical signal converted by each receiver so as to be the delay amount calculated by the delay amount calculation means;
Phasing sonar phasing program characterized by causing the computer to function. A towing array formed by connecting a plurality of transmitters that convert electrical signals into sound waves and connected by cables, a deviation amount sensor that measures the amount of deviation of the position of each transmitter, and a computer. A phasing program used for a towed sonar having
Coordinate calculation means for calculating the coordinates of each transmitter based on the deviation amount measured by the deviation amount sensor;
A delay amount calculating means for calculating a delay amount so that each of the transmitters transmits the sound wave in a specific direction based on the coordinates of each of the transmitters calculated by the coordinate calculating means;
Phasing means for adjusting the phase of the electric signal converted by each transmitter so as to be the delay amount calculated by the delay amount calculating means;
Phasing sonar phasing program characterized by causing the computer to function.

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