JP2666765B2 - Acoustic target for underwater vehicles - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an acoustic target for an underwater vehicle that is attached to the underwater vehicle and emits a pseudo echo sound wave.

[0002]

2. Description of the Related Art A device that mounts an active sonar on an underwater vehicle and tracks a sonar target existing in the sea including the sea and the seabed is known as a homing vehicle. It is also well known that this homing craft has a homing function. That is, a transmitted pulse sound wave is transmitted from the active sonar mounted thereon, and when this sound wave catches the sonar target, this becomes a reflected echo and is received again by the active sonar of the homing vehicle. Then, based on the distance information and the azimuth information in which the received signal exists, the steering system is driven so as to always face the sonar target, and the steering system is tracked.

[0003] Such homing marines often perform homing voyages for training, function confirmation and other various purposes. In this implementation, it is desirable to make an actual sonar target, for example, a surface ship or submarine, act, and perform homing operation training or function confirmation on the target.

However, every time a homing cruise takes place, a surface ship or submarine is actually acted as a sonar target.
It is necessary to mobilize a large number of seafarers and ships, which is problematic in terms of cost. For this reason, an underwater acoustic target simulating an actual sonar target is used. This underwater acoustic target
When receiving a transmission pulse sound wave transmitted by the homing vehicle, a signal having characteristics close to actual reflected echoes is transmitted back.

[0005] Such underwater acoustic targets include a self-propelled type, a towed type, and a fixed type, and the type of underwater acoustic target to be used is determined according to the operational purpose in which training and confirmation of functions are performed. ing. As a fixed underwater acoustic target,
There is an underwater acoustic stationary target, and a self-propelled underwater acoustic target includes an underwater moving target. Both of these targets have a transmitter / receiver that receives a transmitted pulse sound wave generated from the active sonar of the homing craft and sends it out as a desired pseudo echo pulse sound wave, an electronic circuit including a power supply, and the like,
These devices are common in that they have a watertight cylindrical shape equipped with predetermined devices.

[0006] However, underwater acoustic stationary targets are installed in the sea or underwater in an almost upright posture using automatic buoyancy. Underwater moving targets can be moved underwater by the propulsion of an engine or the like. . Also, some of the underwater acoustic stationary targets
As in the target described in JP-A-59-57181, there is a type in which signal processing inside the target is advanced.

[0007]

However, the above-mentioned prior art uses an underwater acoustic target simulating an actual sonar target, so that there is no need to mobilize a large number of seafarers and ships, thereby reducing costs. However, regardless of whether it is fixed, self-propelled, or towed, the underwater vehicle and a separate underwater acoustic target are used.
In addition to the personnel who operate the underwater vehicle, personnel who operate the underwater acoustic target are indispensable. For this reason, it is insufficient in terms of implementation cost reduction.

The present invention has been made in view of the above problems, and has as its object to provide an acoustic target for an underwater vehicle that is provided on the underwater vehicle to reduce the cost of performing homing navigation.

[0009]

In order to achieve the above object, an invention according to claim 1 comprises a cylinder mounted on an underwater vehicle, a receiver mounted on the cylinder, a position measuring unit, A sound target for an underwater vehicle including a control unit, a transceiver, and a transmitter, wherein the receiver receives a transmission pulse sound wave from the underwater vehicle, and the position measurement unit includes: Sending the information of the running state of the underwater vehicle to the control unit, the control unit, the Doppler frequency derived from the preset sonar target motion pattern and the information of the running state,
A time signal that is a ratio of the distance of the sonar target and the sound velocity underwater of the sound wave, and a control signal corresponding to the angle of the sonar target are output to the transceiver, and the transceiver transmits and receives the received electrical signal from the receiver. Along with adding the Doppler frequency from the control unit and delaying the electric signal by the time signal from the control unit, the electric signal is output to the transmitter based on the control signal, and The transmitter is configured to convert the electric signal from the transceiver into a pseudo echo sound wave and transmit the pseudo echo sound wave to a sonar target angle indicated by the control signal.

According to a second aspect of the present invention, the transmitter has an upper left azimuth transmitting section for transmitting the pseudo echo sound wave in the upper left direction, and a left middle azimuth transmitting section for transmitting the pseudo echo sound wave in the middle left direction. Wave portion, a lower left position transmitting portion for transmitting the pseudo echo sound wave in the lower left direction, a middle upper direction transmitting portion for transmitting the pseudo echo sound wave in the middle upper direction, and the pseudo echo sound wave in the front direction. A front azimuth transmitting unit to transmit, a middle and lower transmitting unit for transmitting the pseudo echo sound wave in the middle and lower directions, an upper right azimuth transmitting unit to transmit the pseudo echo sound wave to the upper right direction, It comprises a right middle azimuth transmitting unit for transmitting the echo sound wave in the right middle direction, and a lower right transmitting unit for transmitting the pseudo echo sound wave in the lower right direction.

According to a third aspect of the present invention, the transmitter / receiver adds a Doppler frequency from the controller to the received electric signal from the receiver to convert the frequency, and a conversion circuit for converting the frequency. A delay circuit that delays the time of the electric signal from the conversion circuit based on the time signal; and a switch that outputs the electric signal from the delay circuit to the transmission unit indicated by the control signal from the control unit. There is a configuration.

According to a fourth aspect of the present invention, in the acoustic target for an underwater vehicle, a sound absorbing material for reducing a reflected sound of a transmitted pulse sound wave transmitted from the underwater vehicle is provided on an inner surface of the cylindrical body. In this configuration, the cylinder is filled with a member that makes the environment inside the cylinder acoustically equivalent to underwater.

[0013]

According to the first aspect of the present invention, the transmission pulse sound wave from the underwater vehicle is received by the receiver mounted in the cylinder attached to the underwater vehicle. In parallel with this operation, information on the traveling state of the underwater vehicle is transmitted from the position measurement unit to the control unit. Thereby, it corresponds to the Doppler frequency derived from the preset movement pattern of the sonar target and the information on the running state, the time signal which is the ratio of the distance of the sonar target and the sound velocity of the sound wave underwater, and the angle of the sonar target. The resulting control signal is output to the transceiver. And
In the transceiver, the Doppler frequency from the control unit is added to the electric signal received from the receiver, and the electric signal is delayed by the time signal from the control unit. Output to the transmitter. As a result, the pseudo echo sound wave is transmitted from the transmitter at the angle of the sonar target indicated by the control signal.

According to the second aspect of the present invention, a transmitter for the upper left direction, a transmitter for the middle left direction, a transmitter for the lower left position, a transmitter for the middle upper direction, and a front direction constituting a transmitter. Transmission unit to which an electric signal from the transceiver is input, among the transmission unit for transmission, the transmission unit for middle and lower positions, the transmission unit for upper right direction, the transmission unit for right middle direction and the transmission unit for lower right position A pseudo echo sound wave is transmitted from the unit at a predetermined angle.

According to the third aspect of the present invention, in the conversion circuit of the transceiver, the Doppler frequency from the control unit is added to the electric signal received from the receiver to convert the frequency.
In the delay circuit, the time of the electric signal from the conversion circuit is delayed based on the time signal from the control unit. Then, the switch outputs the electric signal from the delay circuit to the transmission unit indicated by the control signal from the control unit.

According to the fourth aspect of the present invention, the reflected sound of the transmitted pulse sound wave transmitted from the underwater vehicle is reduced by the sound absorbing material provided on the inner surface of the cylindrical body. Then, the environment inside the cylinder is acoustically equivalent to underwater by the member filled in the cylinder.

[0017]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic sectional view showing an underwater vehicle acoustic target according to one embodiment of the present invention. In FIG.
Reference numeral 1 denotes an underwater vehicle acoustic target. The underwater vehicle acoustic target 1 is attached to the head of an underwater vehicle 2. The underwater vehicle acoustic target 1 includes a cylindrical body 3 and an attaching portion 3.
0, the receiver 4, the transceiver 5, the position measuring unit 6, the control unit 7, and the transmitter 8 are mounted in the cylindrical body 3. The sound absorbing material 9 is bonded to the inner surface of the cylindrical member 3 and the acoustic rubber 10 is filled in the cylindrical body 3. Reference numeral 20 denotes an active sonar provided with a transmitter, a receiver, and a transmitter / receiver. The active sonar 20 is provided at the head of the underwater vehicle 2.

Here, the sound absorbing material 9 is a member for reducing the reflected sound of the transmission pulse sound wave S1 transmitted from the active sonar 20, and the acoustic rubber 10 is
It is filled to make the environment inside acoustically equivalent to underwater.

FIG. 3 is a block diagram showing an electric structure of the underwater vehicle acoustic target 1. As shown in FIG. In FIG. 3, the receiver 4
Is a device that receives the transmission pulse sound wave S1 transmitted from the active sonar 20 of the underwater vehicle 2 and converts it to an electric signal S2 to output to the transceiver 5.

The transceiver 5 has an amplification circuit 50, a conversion circuit 51, a delay circuit 52, a switch 53, and a power amplification circuit 54. The amplification circuit 50 is a circuit that amplifies the electric signal S2 input from the receiver 4 to a predetermined voltage level, and the conversion circuit 51 converts the amplified electric signal S3 from the amplification circuit 50 into a Doppler frequency DF from the control unit 6. The delay circuit 52 is a circuit that delays the time of the converted electric signal S4 from the conversion circuit 51 based on the time signal T from the control unit 6, and the switch 53 The power amplification circuit 54 has a movable contact 53a and outputs the delayed electric signal S5 from the delay circuit 52 to any of the nine terminals 53b to 53j.
This is a circuit that amplifies the delayed electric signal S5 from the power to a predetermined level.

The position measuring unit 6 has a speed sensor (not shown), a depth sensor, and a pitch, roll and yaw angle sensor. Based on the detection of these sensors, the traveling state of the underwater vehicle 2 is determined. Is transmitted to the control unit 7.

When the motion pattern of the fictitious sonar target is set, the control unit 7 calculates the Doppler frequency DF based on the speed of the sonar target and the traveling state information D2 from the position measuring unit 6. , And a function of outputting to the conversion circuit 51. That is, it calculates the Doppler shift that would occur if the fictitious sonar target actually acted in the set movement pattern.

The control unit 7 determines the distance and the relative angle between the sonar target and the underwater vehicle 2 based on the motion pattern of the fictitious sonar target and the cruising state information D2 from the position measuring unit 6. It also has a function of calculating, calculating the time signal T from the ratio between the calculated distance and the underwater sound speed of the sound wave, and outputting the time signal T to the delay circuit 52. That is, the delay time of the sound wave that would occur when the fictitious sonar target actually acted in the set movement pattern is calculated.

Further, based on the calculated relative angle between the sonar target and the underwater vehicle 2, the control unit 7 sends the delayed electric signal S from the delay circuit 52 to the transmitter 8 corresponding to the angle.
5 to output a control signal C for controlling the switch 53 so as to output 5 to the switch 53. In addition, the exercise pattern of the sonar target can be set in advance via an external interface.
The information is stored in the control unit 7.

The transmitter 8 includes an upper left directional transmitter 81, a left middle directional transmitter 82, a lower left directional transmitter 83, a middle upper directional transmitter 84, and a front directional transmitter 85. It comprises nine transmitters: a transmitter for middle and lower position 86, a transmitter for upper right direction 87, a transmitter for right middle direction 88, and a transmitter for lower right position 89. As shown in FIG. 2, the transmitters 81 to 89 are devices that output the delayed electric signal S5 from the power amplifier circuit 54 as a pseudo echo sound wave S6. That is, a pseudo echo sound wave S6 having the Doppler frequency indicated by the delayed electric signal S5 and delayed by the time signal T is output, and the transmission pulse sound wave S1 from the active sonar 20 is output.
The effect is as if it were reflected from the actual sonar target.

Next, the operation of this embodiment will be described.
In FIG. 1, when the underwater vehicle 2 moves, the underwater vehicle acoustic target 1 attached to the underwater vehicle 2 also moves integrally with the underwater vehicle 2. When the transmission pulse sound wave S1 is transmitted from the active sonar 20 of the underwater vehicle 2, the transmission pulse sound wave S1 is received by the receiver 4 of the underwater vehicle acoustic target 1, and the electric signal S2 is transmitted. ,
As shown in FIG. 3, the signal is input to the amplifier circuit 50 of the transceiver 5. The electric signal S2 input to the amplifier circuit 50 is amplified to a predetermined voltage level by the amplifier circuit 50, and then output to the conversion circuit 51 as an amplified electric signal S3.

In parallel with this operation, information D2 on the running state of the underwater vehicle 2 is sent from the position measuring section 6 to the control section 7. Then, in the control unit 7, the cruising state information D
The Doppler frequency DF is calculated based on 2 and a preset fictitious sonar target speed, and output to the conversion circuit 51. When the Doppler frequency DF is input to the conversion circuit 51, the conversion circuit 51
3 is added to the Doppler frequency DF, and the converted electric signal S4 is output to the delay circuit 52.

At this time, the control unit 7 compares the sonar target with the underwater vehicle 2 based on the set imaginary movement pattern of the sonar target and the cruising state information D2 from the position measurement unit 6. Distances and relative angles are calculated. Then, from the ratio between the calculated distance and the underwater sound velocity of the sound wave, a time signal T, which is a sound wave delay time that would be generated when the fictitious sonar target actually acts in the set movement pattern, is calculated. The signal is output to the circuit 52. Thus, the converted electric signal S4 is delayed by the time signal T by the delay circuit 52, and the delayed electric signal S5 is output to the switch 53.

In parallel with this operation, based on the calculated relative angle between the sonar target and the underwater vehicle 2, the control unit 7 sends the delay electric signal from the delay circuit 52 to the transmitter 8 corresponding to the angle. Control signal C for controlling to output signal S5
Is output to the switch 53. For example, when it is determined that the sonar target exists in the upper right direction when viewed from the underwater vehicle 2, a control signal C for connecting the movable contact 53a of the switch 53 to the terminal 53d is output to the switch 53. . As a result, the delayed electric signal S5 from the delay circuit 52 is
The power is input to the power amplification circuit 54 via the line d, and the power is amplified to a predetermined level by the power amplification circuit 54, and then output to the upper right azimuth transmission section 87 of the transmitter 8.

As a result, in the upper right azimuth transmitting section 87, the delayed electric signal S5 from the power amplifier circuit 54 is converted into a pseudo echo sound wave S6 and transmitted to the sea. That is, a pseudo echo sound wave S6 having a Doppler frequency and a delay time that would be generated if the fictitious sonar target actually acted in the set movement pattern is emitted from the upper right azimuth transmitting unit 87, and travels underwater. The waves are received by the active sonar 20 of the body 2.

As described above, according to the present embodiment, every time the transmission pulse sound wave S1 from the underwater vehicle 2 is received, the corresponding pseudo echo sound wave S6 is transmitted, as if it were the actual sonar target. As a result, it is possible to reduce costs by eliminating the need to mobilize a large number of seafarers and ships. Moreover, according to the present embodiment, since the underwater vehicle acoustic target 1 is attached to the underwater vehicle 2, only the personnel required to actually operate the underwater vehicle 2 can be used. Target 1 can also work. As a result, the implementation cost can be further reduced.

In the prior art in which the underwater vehicle and the underwater acoustic target are separated from each other, it is difficult to perform the homing navigation test by installing the underwater acoustic target at a deep depth.
According to the underwater vehicle acoustic target 1 of the present embodiment, the transmitter 8
By transmitting the pseudo echo sound wave S6 from the left, middle, and lower right transmitting units 83, 86, 89, it is possible to make it appear that the sonar target is at a deep depth.

[0033]

As described above, according to the acoustic target for an underwater vehicle according to the present invention, each time a transmitted pulse sound wave from the underwater vehicle is received, a corresponding pseudo echo sound wave is transmitted. ,
Like a reflection echo from an actual sonar target,
Since it is possible to respond, it is not necessary to mobilize a large number of seafarers and ships, and the cost can be reduced. In addition, since the underwater vehicle acoustic target is attached to the underwater vehicle, the underwater vehicle acoustic target can also be operated by only the personnel required to actually operate the underwater vehicle.
As a result, the implementation cost can be further reduced.

[Brief description of the drawings]

FIG. 1 is a schematic sectional view showing an underwater vehicle acoustic target according to an embodiment of the present invention.

FIG. 2 is a front view showing an arrangement of the transmitter.

FIG. 3 is a block diagram showing an electrical structure of the underwater vehicle acoustic target 1.

[Explanation of symbols]

 Reference Signs List 1 acoustic target for underwater vehicle 2 underwater vehicle 3 cylinder 4 receiver 5 transceiver 6 position measuring unit 7 control unit 8 transmitter

Claims (4)

(57) [Claims] 1. A sound for an underwater vehicle including a cylinder mounted on the underwater vehicle, and a receiver, a position measuring unit, a control unit, a transceiver, and a transmitter mounted on the cylinder. A target, wherein the receiver receives a transmission pulse sound wave from the underwater vehicle, and the position measurement unit sends information on a traveling state of the underwater vehicle to the control unit. The control unit includes a Doppler frequency derived from a preset motion pattern of the sonar target and the information on the traveling state, a time signal that is a ratio of the distance of the sonar target and the sound velocity of the sound wave underwater, and a sonar target. And outputs a control signal corresponding to the angle to the transceiver, wherein the transceiver adds a Doppler frequency from the control unit to an electric signal received from the receiver, and outputs the electric signal to the control unit. After delaying only the time signal from The electric signal is output to the transmitter based on the control signal. The transmitter converts the electric signal from the transceiver into a pseudo echo sound wave, and the sonar indicated by the control signal represents the pseudo echo sound wave. An acoustic target for underwater vehicles, which is transmitted at a target angle. 2. An upper-left azimuth transmitting unit for transmitting the pseudo echo sound wave in the upper left direction, a left middle azimuth transmitting unit for transmitting the pseudo echo sound wave in the left middle direction, A lower left transmitting unit for transmitting the pseudo echo sound wave in the lower left direction, a middle upper directional transmitting unit for transmitting the pseudo echo sound wave in the middle upper direction, and a front azimuth transmitting the pseudo echo sound wave in the front direction. A transmitting section, a middle-lower position transmitting section for transmitting the pseudo echo sound wave in the middle and lower directions, a right upper direction transmitting section for transmitting the pseudo echo sound wave in the upper right direction, and 2. The acoustic target for an underwater vehicle according to claim 1, wherein the acoustic target includes a right middle azimuth transmitting unit for transmitting in the right direction, and a lower right transmitting unit for transmitting the pseudo echo sound wave in the lower right direction. 3. A conversion circuit for converting a frequency by adding a Doppler frequency from the control unit to the reception electric signal from the receiver, and a time signal from the control unit. 3. A delay circuit that delays the time of the electric signal from the conversion circuit, and a switch that outputs the electric signal from the delay circuit to the transmission unit indicated by a control signal from the control unit. 4. Acoustic target for underwater vehicles. 4. A sound absorbing material for reducing a reflected sound of a transmission pulse sound wave transmitted from the underwater vehicle is provided on an inner surface of the cylindrical body, and an environment in the cylindrical body is acoustically provided in the cylindrical body. The acoustic target for an underwater vehicle according to claim 1, 2 or 3, wherein the acoustic target is filled with a member equivalent to underwater.