JP4966794B2 - Underwater vehicle guidance method and apparatus - Google Patents

Description

  The present invention relates to a control method and apparatus for an underwater vehicle that communicates with a mother ship and is guided from the mother ship.

  In the situation where only the direction or direction and frequency of the moving target is observed, a method for using this to guide the underwater vehicle to associate with the target is the observation obtained with the sensor provided on the mother ship. There has been proposed a method for determining a guidance item based only on information.

  Patent Document 1 is a method of guiding the underwater vehicle to the meeting point while assuming a distance with respect to the direction of the moving target observed on the mother ship, and Patent Document 2 is based on the direction of the moving target observed on the mother ship. This is a method of navigating the underwater vehicle so that the noise of the underwater vehicle does not interfere with the observation of the mother ship.

Japanese Patent Laid-Open No. 3-282200 JP 10-160399 A

  Since the techniques described in Patent Document 1 and Patent Document 2 perform guidance based only on observation information from the sensor of the mother ship, especially when the target is at a long distance from the mother ship, the target motion necessary for guidance The specifications could not be obtained with sufficient accuracy. As a result, it was difficult to associate the underwater vehicle with the target with a high probability.

  One aspect of the present invention is to observe azimuth information of the target (body) viewed from the underwater vehicle, observe azimuth information and frequency information of the target viewed from the mother ship of the underwater vehicle, and observe the observed azimuth information. The target position, course, and speed are estimated based on the frequency information, and the course of the underwater vehicle is determined in accordance with the estimated target position, course, and speed, and the underwater vehicle is located in the determined course. This is a method and apparatus for guiding an underwater vehicle.

  A more specific aspect of the present invention is a method and apparatus for guiding an underwater vehicle with a margin for allowing an estimated target position and a heading estimation error when determining the course of the underwater vehicle.

  According to the underwater vehicle guidance method and apparatus according to the present invention, it is possible to obtain, at an early stage, motion specifications effective for a meeting even for a long-distance target. Therefore, it is possible to associate the target underwater vehicle and the target with a high probability.

[Example]
DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to the drawings with respect to embodiments of an underwater vehicle guidance method and apparatus. FIG. 1 shows the configuration of the embodiment. Reference numeral 101 denotes a mother ship, and reference numeral 102 denotes an underwater vehicle that starts from the mother ship and travels under the control of the mother ship 101. The underwater vehicle 102 includes an acoustic sensor 103 and captures an acoustic signal emitted from a moving target 104. The captured signal is notified to the mother ship 101 through the communication wire 105 or the like. The mother ship 101 also includes an acoustic sensor 106. Information from these two kinds of acoustic sensors is analyzed by the mother ship 101, and after the motion parameters of the target 104 are determined, control information is transmitted to the underwater vehicle 102 through the guidance device 107. Will be sent.

  FIG. 2 is a functional block diagram for realizing the method for guiding the underwater vehicle 102. The acoustic sensor 103 of the underwater vehicle 102 receives the acoustic signal from the target 104 and sends the direction information of the target 104 to the target motion analysis unit 203 of the mother ship 101. Similarly, the acoustic sensor 106 of the mother ship 101 receives an acoustic signal from the target 104 and sends information on the direction and frequency of the target 104 to the target motion analysis unit 203. The target motion analysis unit 203 calculates the position, course, and speed of the target 104 from information on the direction and frequency of the target 104 received from the underwater vehicle acoustic sensor 103 and the mother ship acoustic sensor 106. The guidance control unit 204 determines the course of the underwater vehicle 102 based on the position, course, and speed of the target 104 input from the target motion analysis unit 203. The motion control unit 205 controls the rudder and propulsion unit of the underwater vehicle 102 according to instructions from the guidance control unit 204.

  Although not shown, the target motion analysis unit 203 and the guidance control unit 204 are a calculation device including a CPU, a memory, and an interface for communication with the acoustic sensor 106 and the underwater vehicle 102. The motion control unit 205 has the same configuration, but may be configured as a dedicated device for miniaturization.

  FIG. 3 is a flowchart of processing executed by the target motion analysis unit 203 of the mother ship 101 using the acoustic sensor observation information of the underwater vehicle 102 and the acoustic sensor observation information of the mother ship 101. In process 301, direction observation information by the acoustic sensor 103 of the underwater vehicle 102 is read. In process 302, direction observation information by the acoustic sensor 106 of the mother ship 101 is read.

  In process 303, an initial value of the state vector estimated value of the target 104 is set.

In the process 304, the state vector estimate x of the target 104 that has been given, so far the observation time underwater vehicle 102 at t _i positional information _rmt x _i, from _rmt y _i, underwater at observation time t _i The estimated target direction g _i (x) viewed from the running body 102 is calculated.

In the process 305, the state vector estimate x of the target 104, measurement time t positional information _ship x _i mother ship 101 in _i, the _ship y _i, measurement time t estimated target direction as seen from the mother ship sensor 106 at _i h _i Calculate (x).

In the process 306, the state vector estimate x of the target 104, and the estimated target direction h _i (x) as viewed from the mother ship sensor 106 at the observation time t _i, and course _ship c _i mother ship 101 at the observation time t _i, water From the sound velocity C, an estimated target frequency k _i (x) viewed from the mother ship sensor 106 at the observation time t _i is calculated.

here,

In process 307, a difference between the observation direction information _rmt theta _i of underwater vehicle an acoustic sensor 103 at the observation time t _i up to it, and the estimated target direction g _i of observation time t _i obtained in process 304 (x) jg (x) is obtained, and the sum of these values over the previous observation times is calculated as the underwater vehicle sensor orientation residual jg _sum (x).

In process 308 obtains the observation direction information _ship theta _i mother ship acoustic sensor 106 at the observation time t _i, the difference jh between the estimated target direction h _i of observation time t _i obtained in process 305 (x) a (x), The sum of these values over the previous observation time is calculated as the mother ship acoustic sensor heading residual jh _sum (x).

In process 309 obtains the observation frequency information _ship f _i mother ship acoustic sensor 106 at the observation time t _i, the difference jk between the estimated target frequency k _i of the observation time t _i obtained in process 306 (x) (x), The sum of these over the previous observation times is calculated as the mother ship acoustic sensor frequency residual jk _sum (x).

In the process 310, the equation (2) used to calculate the estimated target direction g _i (x) viewed from the underwater vehicle acoustic sensor 103 in the process 304 is partially differentiated by each element of the state vector estimated value x. The derivative G is obtained from the equation.

In the process 311, the equation (3) used to calculate the estimated target direction h _i (x) as viewed from the mother ship sensor 106 in the process 305 is obtained by subtracting a derivative from the expression obtained by partial differentiation with respect to each element of the state vector estimated value x. Find H.

In the process 312, the equation (4) used to calculate the estimated target frequency k _i (x) as viewed from the mother ship sensor 106 in the process 306 is derived from the partial differential of the respective elements of the state vector estimated value x. Find K.

  In process 313, the underwater vehicle sensor orientation residual jg (x) obtained in process 307, derivative G obtained in process 310, mother ship sensor orientation residual jh (x) obtained in process 308, and obtained in process 311 The update amount Δx of the state vector x is obtained from the differential coefficient H, the mother ship sensor frequency residual jk (x) obtained in the processing 309, and the differential coefficient K obtained in the processing 312. Λ is a constant and I is a unit matrix.

  In the process 314, the value of the state vector x is updated using the state vector update amount Δx obtained in the process 313.

  If the state vector update amount Δx obtained in step 313 is equal to or less than a predetermined value in the branch 315, the state vector x at that stage is adopted as a solution, and the process ends. If the state vector update amount Δx is larger than the predetermined value, the processing 304 and subsequent steps are repeated until the state vector update amount Δx becomes equal to or smaller than the predetermined value. As a result, the motion specifications of the target 104 are accurately obtained.

  FIG. 4 is a conceptual diagram of processing in which the guidance control unit 204 of the mother ship 101 determines the course of the underwater vehicle 102 based on the position, course, and speed of the target 104 obtained by the target motion analysis unit 203.

401 is the position of the underwater vehicle 102 at the time of calculation, 402 is the course of the underwater vehicle 102, 403 is the threshold of the underwater vehicle sensor 103, and Φ _{beam / 2} is the _beam of the underwater vehicle sensor 103 The width (half-width value). 405 is the position of the target 104 obtained by the target motion analysis unit 203, 406 is the course _tgt c of the target 104 obtained by the target motion analysis unit 203, and g _i (x) is seen from the current position of the underwater vehicle 102 This is the direction of the target 104.

Based on the direction g _i (x) of the target 104, the navigation instruction direction c _cmd to the underwater vehicle 102 is calculated. The pointing course to the underwater vehicle 102 is such that the orientation g _i (x) of the analysis target viewed from the current position of the underwater vehicle 102 is captured at a predetermined angle Φ _look in the beam of the underwater vehicle sensor 103. decide. Φ _look is set to the beam width Φ _{beam / 2} of the underwater vehicle sensor 103 as much as possible so that the observation direction obtained by the underwater vehicle sensor 103 becomes more effective for the target motion analysis process 203. The position of the target 104 obtained by the target motion analysis unit 203, the error included in the course _tgt c406 of the target 104 obtained by the target motion analysis unit 203, and the target 104, which are close values and are the result of the target motion analysis process And an appropriate margin α (α ≦ 1.0) in order to avoid the target 104 from deviating from the cover threshold of the underwater vehicle sensor 103 due to the relative motion of the underwater vehicle 102 and slightly more than Φ _{beam / 2.} Use a small angle.

  It should be noted that in order to obtain a highly effective result with respect to the target motion analysis process 203, that is, to obtain a highly accurate result by the target motion analysis process 203, it is better that the direction change rate of the target viewed from the underwater vehicle 102 is large. In general, it is ideal for the movement to maximize the heading change rate, but it is ideal to sail so that the target is seen near the right side, but at the same time, the target is captured by the underwater vehicle sensor 103. There is a need. In order to satisfy these conditions at the same time, the course of the underwater vehicle may be determined so that the target is positioned as close to the front side as possible within the beam width of the sensor.

As a result, the traveling instruction direction c _cmd to the underwater vehicle 102 is a direction obtained by subtracting the angle Φ _look from the target direction g _i (x) viewed from the current position of the underwater vehicle 102.

here,

410 is an instruction course to underwater vehicle 102 corresponding to the c _cmd. This makes it possible to obtain observation azimuth information suitable for accurately determining the motion specifications of the target 104 while keeping the probability that the sensor 103 of the underwater vehicle 102 will miss the target 104 low.
As shown in Equation (19), the present guidance method is a method for obtaining the traveling instruction direction c _cmd with respect to the target direction g _i (x) obtained in the analysis, and the underwater vehicle 102 Even when the sensor 103 misses the target 104, the guidance can be continued based on g _i (x) obtained by extrapolation calculation.

  FIG. 5 is a conceptual diagram of the track of the underwater vehicle 102 when the movement control unit 205 of the underwater vehicle 102 controls the traveling according to the instruction course output by the guidance control unit 204 of the mother ship 101. Reference numerals 501, 502, and 503 denote the direction of the target 104 viewed from the underwater vehicle 102 at each time, and reference numerals 504, 505, and 506 denote instruction courses to the underwater vehicle 102 corresponding to 501, 502, and 503, respectively. 507 is the track of the underwater vehicle. As a result of the underwater vehicle 102 moving so that the target 104 is seen from its own course in a certain direction, the wake 507 has a shape close to a spiral. As a result, while the probability that the sensor 103 of the underwater vehicle 102 misses the target 104 is kept low, an accurate motion specification of the target 104 is obtained by performing analysis using the obtained observation direction information. be able to.

  6 to 13 show the results of the computer simulation of the underwater vehicle control by the guidance method according to Patent Document 1 and the results of the computer simulation of the underwater vehicle control according to this embodiment.

  FIG. 6 shows the track of underwater vehicle control when guided by the guidance method using only the observation information of the mother ship sensor described in Patent Document 1, and FIG. 7 shows the underwater navigation when guided by the guidance method of this embodiment. The track of the runner control is shown. Reference numerals 601 and 701 indicate the track of the target 104, 602 and 702 indicate the track of the mother ship 101, and 603 and 703 indicate the track of the underwater vehicle 102.

  FIG. 8 shows the analysis status of the distance to the target according to this embodiment. FIG. 9 shows the analysis status of the target direction, FIG. 10 shows the analysis status of the target speed, and FIG. 11 shows the analysis status of the course. In both figures, the underwater vehicle 102 has started running at 600 seconds, and when the analysis results after this time are compared, the analysis is performed using only the observation information of the mother ship sensor 106. It can be seen that the accuracy is improved when the combined analysis information of the mother ship sensor 106 and the underwater vehicle detector 103 is analyzed.

  FIG. 12 shows the totaling result of the meeting situation when the guidance method using only the observation information of the mother ship sensor 106 described in Patent Document 1 is shown, and FIG. 13 shows the meeting situation when the guidance method of this embodiment is used. Shows the total result. FIG. 12 and FIG. 13 both show the results of 100 trials with the observation direction of the mother ship sensor 106 and the underwater vehicle sensor 103 changed by normal random numbers. In addition, the rate of successful meetings is shown as the meeting success rate when the distance between the underwater vehicle 102 and the target 104 is 100 m or less. The association success rate when using the induction method described in Patent Document 1 is 24.0%, and the association success rate when using the induction method of this example is 97.0%.

It is a conceptual diagram which shows a structure of an Example. It is a functional block diagram for implement | achieving the underwater vehicle guidance method by an Example. It is a process flowchart of the target motion analysis part of a mother ship. It is a conceptual diagram of the process which the guidance control part of a mother ship determines the course of an underwater vehicle. It is a conceptual diagram of the track of an underwater vehicle when the underwater vehicle is controlled according to the present embodiment. It is the graph which showed the track of the underwater vehicle when it was guided by the guidance method using only the observation information of the mother ship sensor. It is the graph which showed the track of the underwater vehicle at the time of controlling the underwater vehicle according to the present embodiment. It is the graph which showed the analysis situation of target distance. It is the graph which showed the analysis situation of the target direction. It is the graph which showed the analysis situation of target speed. It is the graph which showed the analysis situation of the target course. It is the graph which showed the meeting situation of a target and an underwater vehicle when it was guided by the guidance method using only the observation information of the mother ship sensor. It is the graph which showed the meeting condition of a target and an underwater vehicle when control of an underwater vehicle is based on a present Example.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 101 ... Mother ship, 102 ... Underwater navigation body, 103, 106 ... Acoustic sensor, 104 ... Target (body), 203 ... Target motion analysis part, 204 ... Guidance control part, 205 ... Motion control part.

Claims (4)

The first direction information of the target is observed by the first acoustic sensor provided in the underwater vehicle,
The second azimuth information and frequency information of the target are observed by a second acoustic sensor provided on the mother ship of the underwater vehicle,
Based on the observed first azimuth information, second azimuth information and frequency information, estimate the target position, course and speed,
A method for guiding an underwater vehicle, wherein a course of the underwater vehicle is determined in accordance with the estimated position, course, and speed of the target, and the underwater vehicle is guided to the determined course.   The method for guiding an underwater vehicle according to claim 1, wherein a margin for allowing an error in estimation of the estimated target position and course is taken in determining the course of the underwater vehicle. A first acoustic sensor for observing first target orientation information in preparation for the underwater vehicle;
In preparation for the mother ship of the underwater vehicle, a second acoustic sensor for observing the target second orientation information and frequency information, and the first orientation information from the first acoustic sensor, the second Based on the second azimuth information and frequency information from the acoustic sensor, the target position, course, and speed are estimated, and the underwater vehicle according to the estimated target position, course, and speed An underwater vehicle guidance device having a device for determining the course of the vehicle and guiding the underwater vehicle to the determined course.   4. The apparatus for guiding an underwater vehicle according to claim 3, wherein the device takes a margin for allowing an error in estimating the target position and the estimated course when determining the course of the underwater vehicle.

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