JP3156784B2 - Acoustic probe tuning parameter optimization device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an underwater target search system for searching for an underwater target using two acoustic probes suspended from a mother ship. TECHNICAL FIELD The present invention relates to a search-feel adjustment specification optimization device that optimizes a lower depth so as to cover a search cover area in a depth direction.

[0002]

2. Description of the Related Art A sonar (SON) for searching for a target by using a sound wave having a frequency of several hundred hertz to several megahertz.
AR: sound navigation and r
An angling device is used for searching for an underwater target, observing a water bottom, and the like.

In Japanese Patent Application Laid-Open No. 63-261182 (Patent No. 2585259), a plurality of detection probabilities are detected by inputting from an input unit without limiting the detection probabilities of the sensors to specific values. There is described an underwater object detectable area display device which facilitates situation determination such as estimation of the position and existence range of an underwater object and improves detection efficiency. This underwater object detectable area display device is configured as follows. The sensor capability calculation unit calculates the detection capability value of the sensor, and the propagation condition calculation unit calculates the propagation loss according to the sound wave propagation distance in water. The detectable area calculation unit obtains a detectable area of the underwater object based on the detection capability value of the sensor calculated by the calculation unit and the propagation loss calculated by the calculation unit.
Then, without limiting the detection probability of the sensor to a specific value, a plurality of detection probabilities are input from the input unit, the detection capability value of the sensor, the propagation state, etc. are stored in the storage unit, and the detection at any detection probability is possible. The display unit causes the display unit to display the areas or simultaneously display the respective detectable areas according to the plurality of detection probabilities.

Japanese Patent Application Laid-Open No. Hei 4-60483 discloses a depth detector, a temperature detector, a sound ray calculator for calculating a state of a sound ray from both outputs of the depth detector and the temperature detector, and a search depth calculator. An acoustic homing device for an underwater vehicle is described which improves the accuracy of detecting a target by being provided. The acoustic homing device for an underwater vehicle is configured as follows. Instead of the initial search depth setting device, a depth detector, a temperature detector, a sound ray calculator, and a search depth calculator are provided, and the output of the calculator is provided to the steering operation device as the initial search depth. The calculator obtains the state of the sound ray in the water area where the underwater vehicle attempts to detect the target from the relationship between the water temperature and the water pressure. The calculator calculates the optimum search depth from the result of the sound ray calculation, and outputs it to the arithmetic unit as the initial search depth.

JP-A-6-109472 (Patent No. 2)
No. 845689) discloses a prediction calculation processor for predicting and calculating a detection distance of a sonar device, in which a detection distance in a seafloor reverberation dominated region at each depth is obtained by one calculation. ing. The calculation unit propagates from the transmitter of the sonar device at each sampling point at a fixed distance interval along the sound ray set at each fixed depression angle based on the sonar specification information, environmental conditions, and calculation range input at the input unit The calculation unit calculates the average value of the propagation loss for each lattice unit obtained when the designated sea area is divided into the horizontal direction and the depth direction, and the calculation unit calculates the incident correction angle for each lattice unit. Calculate the average value of the corners. The calculation unit calculates the signal excess value for each grid unit based on the information input at the input unit, the average value of the propagation loss, and the seafloor scattering intensity value in the registration unit corresponding to the average value of the supplementary angle of incidence. The calculation unit calculates the detection distance in the seafloor reverberation dominant area for each grid depth based on the calculated signal excess value of each grid and displays it on the display unit.

Japanese Unexamined Patent Publication No. Hei 6-265634 discloses that an ultrasonic beam from a sonar is always positioned on a dredging arc having a radius from a center of rotation of a crane to a predetermined planned depth, so that a water bottom is provided. Describes a water bottom observation device capable of measuring the ups and downs of the sea in a short time. This water bottom observation device is configured as follows. On the grab dredge,
A crane is provided rotatably above the deck of the hull, and a grab is suspended from the tip of the crane by a wire so as to be able to move up and down. When performing the dredging operation, the crane is horizontally turned while the crane jib angle is always kept constant, and the grab is moved up and down with respect to the water bottom. On the bottom of the hull,
A sonar for transmitting the ultrasonic beam is mounted at a position on the bow side of the turning center of the crane. The control processing system controls the ultrasonic beam so that the ultrasonic beam from the sonar is always located on the arc for dredging having a radius from the center of rotation of the crane to a predetermined planned depth at the position where the grab is suspended.
Control the elevation angle of the camera.

Japanese Unexamined Patent Publication No. 7-20230 discloses a sonar depression angle control device capable of accurately and automatically controlling a beam depression angle of a sonar in consideration of sound refraction and the like. This sonar depression angle control device is configured as follows. The optimum beam depression angle calculation unit includes information from the sonar, the water temperature measuring device, and the navigation device, the signal surplus level calculation condition input by the input unit, the vertical beam area input by the data registration unit, and the like. The vertical beam area is calculated from the signal surplus calculation parameters and the like while taking into account sound refraction. Further, at the time of detecting the target, the target position is calculated from each information input from the sonar and the navigation device. Thereafter, if the target position deviates from the reference in the vertical beam area due to the movement of the ship,
By changing the beam depression angle, the depression angle is controlled on a position where the signal surplus level is maximum or positive on the central sound ray.

Further, there is an underwater target search system in which an acoustic probe is hung from a mother ship to search underwater.
FIG. 6 is an explanatory diagram showing the principle of the conventional acoustic probe measurement specification in an underwater target search system for searching for an underwater target using an acoustic probe suspended from a mother ship. FIG.
As shown in the figure, when searching for a target located on the seabed using an acoustic probe suspended from the mother ship, conventionally, the specifications of the acoustic probe have been adjusted so that the effective detection distance on the seabed is maximized. Angle of depression and suspension depth. That is,
Conventionally, in order to search for a target existing on the seabed from a greater distance, a probe is set so that the effective detection distance from the position of the probe with respect to the seabed target is maximized in accordance with the sound velocity distribution, noise level, and reverberation level. Angle of depression and suspension depth were selected.

[0009]

In recent years, obstacles and the like have been installed not only on the sea floor but also at all depths. However, in the conventional probe setting parameter setting device, etc., only the effective detection distance at a specific depth called the sea floor is used as an evaluation scale, and the depression angle and the angle of the acoustic probe are set so that the effective detection distance at the sea bottom is maximized. Because the suspension depth was set, it was not possible to determine whether an obstacle or the like could be searched for over the entire depth.

[0010] Further, in a conventional probe setting parameter setting device, etc., a depression angle and a suspension depth are set for a single acoustic probe suspended from a mother ship. For this reason, two acoustic probes are suspended from the mother ship, and the search depth is shared by each acoustic probe, so that the underwater target search system that can search over the entire depth range has been replaced with a conventional probe. It is not possible to apply a constant specification setting device or the like as it is. Therefore, when the search depth is shared by using two acoustic probes, a device that can automatically obtain a combination of adjustment parameters that enables a search at all depths has been desired.

[0011]

SUMMARY OF THE INVENTION It is an object of the present invention to solve the above-mentioned problems. In an underwater target search system for searching for an underwater target using two acoustic probes suspended from a mother ship, each acoustic search system is provided. It is an object of the present invention to provide a search-behavior-tuning-specifying-optimizing device capable of optimizing a depression angle and a suspension depth, which are the belief-setting parameters, so as to cover a search cover area in the depth direction.

[0012]

In order to solve the above-mentioned problems, an acoustic probe tuning specification optimization apparatus according to the present invention uses a combination of a depression angle and a suspension depth of two acoustic probes suspended underwater. An adjustment parameter setting device to be set, an effective detection distance calculator that calculates the effective detection distance based on the combination of the set depression angle and the suspension depth, and based on the set depression angle, suspension depth, and the effective detection distance A detection probability calculator that calculates the detection probability of the beam center, and a depth condition determiner that extracts a combination of a depression angle and a suspension depth where the calculated detection probability exceeds a threshold over the entire depth. Is done. If there are multiple combinations where the detection probability exceeds the threshold at all depths, the depth condition determiner determines the combination of the depression angle and the suspension depth at which the value with the minimum detection probability for the depth is the maximum among all the combinations. It is characterized by extracting one.

[0013] The acoustic probe tuning specification parameter optimizing device according to the present invention calculates the detection probability of the beam center at each depth, and optimizes the sound probe according to the following procedures (1) and (2). Select a suitable depression angle and the optimal suspension depth. As a result, the search coverage is not lost at all depths, and the most efficient search can be performed.

(1). The combination of the depression angle and the suspension depth of the acoustic probe defined in the step input by the operator is a population, and the detection probability of the beam center of the acoustic probe at all depths corresponding to each combination of these populations is A combination of a depression angle and a suspension depth that are equal to or larger than a threshold value input by the operator is extracted from the population. (2). From among the plurality of combinations extracted in (1), one combination of the depression angle and the suspension depth at which the minimum value of the detection probability distribution is the maximum among all the combinations is extracted.

[0015]

Embodiments of the present invention will be described below with reference to the accompanying drawings.

FIG. 1 is a block diagram of an apparatus for optimizing the specification of an acoustic probe according to the present invention. The acoustic probe setting parameter optimization device 1 according to the present invention includes a tuning parameter setting device 10
, An effective detection distance calculator 20, a detection probability calculator 30, and a depth condition determiner 40. The acoustic probe tuning specification optimization device 1 is mounted on a mother ship (not shown). As shown in FIG. 6, two acoustic probes are suspended from the mother ship in the sea (underwater).

The adjustment specification setting device 10 sets a plurality of combinations of the depression angle and the suspension depth based on the depression angle range input by the operator and the suspension depth range input by the operator.

The effective detection distance calculator 20 calculates an effective detection distance for each combination of the depression angle and the suspension depth set by the adjustment parameter setting device 10 by a water measurement prediction calculation.

The detection probability calculator 30 is provided with the adjustment parameter setting device 1
A combination of the depression angle and suspension depth set by 0,
Further, based on the effective detection distance for each combination of the depression angle and the suspension depth calculated by the effective detection distance calculator 20, the detection probability of the beam center is calculated for each effective detection distance corresponding to each combination.

The depth condition judging unit 40 extracts combinations in which the detection probabilities at all depths exceed the threshold value input by the operator for the combination of the depression angle and the suspension depth. In addition, the depth condition determination unit 40 has a value in which the detection probability with respect to the depth is the maximum among all combinations of the depression angle and the suspended depth in which the detection probability exceeds the threshold value at all the depths. One combination of depression angle and suspension depth is extracted.

Next, the operation of the apparatus for optimizing the specification of an acoustic probe for sound search according to the present invention will be described. Adjustment specification setting device 10
Describes the depression angle and suspension depth of the two acoustic probes
By changing the depression angle and the suspension depth in a step set by the operator, a combination of the depression angle and the suspension depth is determined,
Output to the effective detection distance calculator 20 and the detection probability calculator 30.

The set number of depression angles of one acoustic probe A is m
A, the set number of the suspended depth of one acoustic probe A is nA, the set number of the depression angle of the other acoustic probe B is mB, and the set number of the suspended depth of the other acoustic probe B is nB, The number N of all combinations of adjustment parameters (depression angle and suspension depth) is represented by equation (1).

[0023]

(Equation 1)

FIG. 2 is an explanatory diagram showing the processing contents of the effective detection distance calculator. The effective detection distance calculator 20 measures the sound velocity distribution at all depths by suspending the sensor probe 21. Further, at this time, the effective detection distance calculator 20 sets the depression angle and the suspension depth in the acoustic probes A and B, and transmits the acoustic signals, thereby transmitting the acoustic signals of the acoustic probes A and B. The noise level and reverberation level are measured for each. The calculation unit 22 uses the measured sound velocity distribution, depression angle, suspension depth, noise level, and reverberation level to calculate the effective detection distance according to the depression angle and suspension depth of each of the acoustic probes A and B based on the sound ray theory. Calculate based on The number of effective detection distances calculated is mA × nA for one acoustic probe A and mB × for the other acoustic probe B.
nB, and the total is mA × nA + mB × nB.

The detection probability calculator 3 shown in FIG. 1 calculates the detection probability at the beam center for each depth according to the combination of the adjustment parameters of each acoustic probe.

FIG. 3 is an explanatory diagram showing the concept of a search by an acoustic probe. Assuming that the altitude from the sea floor to the acoustic probe is h, the depression angle is φ, the vertical beam width is 2 × δ, and the effective detection distance is R, the altitude difference h0 of the acoustic probe at the target depth Z in the sea area of water depth Z0 is expressed by the following equation. It is represented by (2).

[0027]

(Equation 2)

The lateral distances X0 and X1 to the end point of the detectable area at each depth are calculated by the following two cases. (1) Case 1 When the target depth Z is lower than the acoustic probe, the lateral distance X0 is calculated by Expression (3), and the lateral distance X1 is calculated by Expression (4).

[0029]

(Equation 3)

[0030]

(Equation 4)

(2) Case 2 When the target depth Z is at a position higher than the acoustic probe, the lateral distance X0 is calculated by equation (5), and the lateral distance X1 is calculated by equation (6).

[0032]

(Equation 5)

[0033]

(Equation 6)

The detection probability is expressed by the following equation (7) based on the inverse cube law of the distance using these lateral distances X0 and X1.

[0035]

(Equation 7)

Here, PA (Z) represents the detection probability of the acoustic probe A at the target depth Z, c represents a proportional constant, and ω represents the traveling speed. The detection probability of the acoustic probe B is also expressed in the same manner.
For the inverse cube law of the distance, see “Search Theory 17
Pages 25 to 25, Kazuo Tada, Nikkagiren ”and the like.

Finally, the detection probabilities of the two acoustic probes A and B are expressed by equation (8).

[0038]

(Equation 8)

The depth condition judging device 4 shown in FIG. 1 judges whether or not the detection probabilities at all the depths according to the combination of the depression angle and the suspension depth of the two sound probes exceed the threshold value input by the operator. The combination of the depression angle and the suspension depth that exceeds is extracted. Also, the depth condition judging device 4
For two combinations of depression angle and suspension depth of two acoustic probes whose detection probabilities exceed the threshold for all depths, compare the distributions of the detection probabilities with respect to depth that are the minimum value, and compare this value. One combination of the depression angle and the suspension depth that makes the maximum is extracted.

FIGS. 4 and 5 are explanatory diagrams showing the processing contents of the depth condition judgment unit. FIG. 4 shows a comparison process between the detection probability distribution in the depth direction and the threshold value in the combination of the depression angle and the suspension depth. In FIG. 4, the horizontal axis indicates the detection probability, and the vertical axis indicates the depth. Symbols 〜 indicate the depth distribution of the detection probability according to the combination of the depression angle and the suspension depth (adjustment specification). By comparing the depth distribution of the detection probability calculated for each adjustment specification with the threshold value of the detection probability (preset) input by an operator or the like, the depression angle and the suspension depth corresponding to the sign ~ are obtained. (Adjustment specification) exceeds the threshold value of the detection probability, and satisfies the condition. Therefore, the depth condition determiner 40
The combination (adjustment data) of the depression angle and the suspension depth corresponding to the symbol 〜 is extracted.

FIG. 5 compares the minimum values of the detection probabilities in the depth direction with respect to a plurality of adjustment parameters (combinations of depression angle and suspension depth) extracted in FIG. The process of extracting the following adjustment parameters (combination of depression angle and suspension depth) is shown. In FIG. 4, the horizontal axis indicates the detection probability, and the vertical axis indicates the depth. Arrows indicate points where the detection probability becomes minimum in the depth distribution of the detection probability in each adjustment specification. The depth condition determination unit 40 compares the minimum values of the detection probabilities for a plurality of adjustment parameters (combinations of the depression angle and the suspension depth) exceeding the threshold of the detection probability, and the minimum value of the detection probability is the maximum. Extract things. Here, the adjustment parameters (the combination of the depression angle and the suspension depth) from which the depth distribution of the detection probability indicated by the code is obtained are determined to be optimal.

Therefore, by using the acoustic probe setting specification optimization device 1 according to the present invention, the tuning parameters (the depression angle and the suspension angle) of the two acoustic probes are set so that an area that cannot be detected in the depth direction is not created. Lower depth) can be automatically determined. It is not necessary to perform complicated trial and error as in the related art, and the optimum adjustment parameters (depression angle and suspension depth) for the two acoustic probes can be quickly set.

[0043]

As described above, the apparatus for optimizing the specification of a sound-sensing sensation according to the present invention calculates the effective detection distance for each set combination of the depression angle and the suspension depth, and detects the beam center. Since the probabilities are calculated and the combination of the depression angle and the suspension depth at which the detection probability exceeds the threshold over the entire depth is extracted, the two probes are used so that the search coverage is not lost over the entire depth. Can be automatically set (depression angle and suspension depth).

Further, the acoustic search characteristic tuning specification optimizing device according to the present invention is configured to extract the tuning specifications (depression angle and suspension depth) at which the minimum value of the depth distribution of the detection probability is maximum. Therefore, there is no lack of the search coverage over the entire depth, and the most efficient search can be performed.

[Brief description of the drawings]

FIG. 1 is a block diagram showing the configuration of an apparatus for optimizing the specification of an acoustic probe according to the present invention.

FIG. 2 is an explanatory diagram showing processing contents of an effective detection distance calculator.

FIG. 3 is an explanatory diagram showing a concept of a search by an acoustic probe.

FIG. 4 is an explanatory diagram (part 1) illustrating processing contents of a depth condition determination unit.

FIG. 5 is an explanatory diagram (part 2) illustrating the processing content of the depth condition determiner.

FIG. 6 is an explanatory view showing the principle of conventional sound search method adjustment specification determination.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Acoustic probe setting parameter optimization apparatus 10 Setting parameter setting unit 20 Effective detection distance calculator 21 Sensor probe 22 Calculation unit 30 Detection probability calculator 40 Depth condition judgment unit

Continuation of the front page (56) References JP-A-9-264958 (JP, A) JP-A-63-261182 (JP, A) JP-A-4-134283 (JP, A) JP-A-64-1995 (JP) JP-A-4-60483 (JP, A) JP-A-10-78348 (JP, A) JP-A-10-68653 (JP, A) JP-A-7-198844 (JP, A) (58) Field surveyed (Int.Cl. ⁷ , DB name) G01S 3/80-3/86 G01S 5/18-5/30 G01S ⁷ /52-7/64 G01S 15/00-15/96

Claims (7)

(57) [Claims] An apparatus for optimizing the specifications of a sound-sensing sensation, comprising means for optimizing the depression angle and the suspension depth of two sound-sensing sensations based on the detection probability distribution in the depth direction. 2. A method for calculating an effective detection distance according to a plurality of combinations of a depression angle and a suspension depth of an acoustic probe based on a measured sound velocity distribution, a noise level, and a reverberation level. Acoustic search tune specification optimization device. 3. A sound apparatus comprising: means for calculating a detection probability at all depths of a sea area in accordance with a depression angle, a suspension depth, and an effective detection distance of an acoustic probe based on a cube law of distance. Detector tuning specification optimization device. 4. A plurality of detection probability distributions at all depths in the sea area corresponding to a combination of a depression angle and a suspension depth of two acoustic probes, and a depression angle and a suspension depth exceeding a preset threshold value for all depths. A device for optimizing the specifications of a sound-sensing probe, comprising means for extracting a combination. 5. A means for extracting a combination of a depression angle and a suspension depth, wherein, when there are a plurality of combinations of depression angles and suspension depths exceeding a preset threshold value for all depths, a minimum detection probability in the depth direction in each combination. 5. The method according to claim 4, further comprising extracting one combination of the depression angle and the suspension depth at which the minimum detection probability in the depth direction is the maximum among the combinations. apparatus. 6. An adjustment parameter setting device for setting a combination of a depression angle and a hanging depth of two acoustic probes suspended in water, and an effective detection distance based on the set combination of the depression angle and the hanging depth. An effective detection distance calculator that calculates the detection probability of the beam center based on the effective detection distance corresponding to the combination of the depression angle and the suspension depth of the acoustic probe, and a detection probability calculator that calculates the depression angle and the suspension depth. A depth search condition determinator for extracting a combination whose detection probability at all depths exceeds a preset threshold value for the combination; 7. When there are a plurality of combinations in which the detection probabilities exceed the preset threshold value at all depths, the depth condition determining unit determines that the value at which the detection probability with respect to the depth is the minimum is the maximum value among all the combinations. 7. The apparatus according to claim 6, wherein one combination of depression angle and suspension depth is extracted.