JP5458756B2 - Underwater object search support device, underwater object search support method, and program thereof - Google Patents

Description

  The present invention relates to an underwater object search support device and the like, particularly for a multi-static sonar system that transmits sound waves from one transmission position and receives reflected waves from an underwater search target object at a plurality of reception positions. The present invention relates to an underwater object search support device, an underwater target search support method, and a program thereof for supporting the operation.

Active to detect changes in the position and movement of an underwater object by transmitting a sound wave from a transmitting device toward an underwater object existing in a vast water area such as the ocean and receiving a reflected wave from the underwater object by a receiving device. A sonar system is known.
Two types of sound wave transmission / reception methods in the active sonar system are used. The first method is a monostatic sonar system in which a transmitting device that transmits sound waves and a receiving device are integrated. The second method is a multi-static sonar system that includes a transmission device and a plurality of reception devices, and the transmission device and each reception device are arranged at different positions.

In recent years, the search range for underwater objects and the variety of searches have been expanded by freely arranging a plurality of receiving apparatuses, and therefore, expectations for multistatic sonar systems have increased.
However, the multi-static sonar system has the advantage that a plurality of receiving devices can be arranged freely. On the other hand, the monostatic sonar system has a reversible sound wave that can be used (the transmitted sound wave is reflected by an underwater object or the seabed). The property of returning to the original position) cannot be used. For this reason, various researches have been conducted on operational techniques for improving the detection capability of the multistatic sonar system for underwater objects.

For example, to reduce the effects of seafloor reflected sound and sea surface reflected sound, improve position detection performance, and concentrate the display of received signals from multiple underwater receivers on one screen, reducing the burden on the operator In order to achieve this, a technique is known in which the position of an underwater target is set in advance, and the distance between the sound source position, the reception position, and the assumed position and the sound wave arrival time are calculated.
According to this technique, the received signal is stored in the memory from the time when the direct sound wave from the sound source is received, and the index value indicating the reception accuracy of the target that actually exists based on the reception time of the reflected wave from the target Is displayed (see Patent Document 1).

In addition, since a desired reception characteristic such as detecting an observation target (target) in a desired arrangement differs depending on the purpose of use of the sensor, a technique for calculating a multistatic sensor arrangement suitable for the purpose of use is known. ing.
According to this technology, the placement of a multistatic sensor that detects an observation target and the virtual placement of the observation target are input, and based on a physical model that indicates the characteristics of the system including the multistatic sensor, the reception of the multistatic sensor is performed. It is configured to include a propagation simulation unit that calculates the intensity, and a detection simulation unit that calculates the detection probability of the observation target based on the signal strength, a predetermined allowable error detection probability, and a characteristic model of the receiver. (See Patent Document 2).

  Furthermore, while measuring the underwater target position with high accuracy based on the current sound velocity distribution in the sea area, and sending and receiving sound waves using the probe mounted on multiple ships, the underwater sound speed distribution in the sea area And a technique for simultaneously estimating the underwater target position are known. For this purpose, in a unit composed of a plurality of ships, the sound waves transmitted from one specific ship are received by other ships, and these ships are based on the position, sound wave transmission time, and sound wave reception time of each ship. The position of the underwater target is estimated at the same time by estimating the sound speed distribution in the sea area where the water is present and analyzing the arrival time of the reflected sound from the underwater target based on this sound speed distribution (see Patent Document 3). ).

JP 2002-168937 A JP 2003-149326 A JP 2006-292435 A

  Sound waves transmitted from the transmitter do not propagate straight, depending on the environment unique to the search sea area where the underwater object is searched, for example, the depth of the water and the sound speed characteristics (sound speed profile). Propagate while refraction. For this reason, when an underwater object is set at an arbitrary position in the search sea area, a state in which the sound wave from the transmission device does not reach the underwater object occurs. Even when the sound wave from the transmitting device reaches the underwater object, if the receiving device is set at an arbitrary position in the search sea area, a state in which the reflected wave from the underwater object does not reach the receiving device occurs.

  However, in Patent Document 1 to Patent Document 3 described above, since the property of propagating sound waves and reflected waves while being refracted according to the environment specific to the search sea area is not considered, the sound waves from the transmission device are not searched. The range in which the underwater object reaches and the range in which the reflected wave from the underwater object reaches the receiving device are not determined. For this reason, there exists a subject that it is difficult to set appropriate arrangement | positioning of an underwater object and a receiver.

  For example, in the above-mentioned Patent Document 1, an underwater sound source has an assumed position of an underwater target, an underwater target, a sea wave, a sound wave that reaches the sea surface, and a reflected wave that reaches each underwater receiver from the assumed position of the underwater target. It is difficult to accurately detect the position and movement change of an underwater target because it is assumed that the vehicle travels straight in the water and the range where sound waves and reflected waves reach is not determined according to the environment of the search sea area. .

  Further, the above Patent Document 2 calculates the S / N ratio in the receiver from the arrangement of the transceiver and the arrangement of the observation target, and the distance described in “RO Nielsen, Sonar Signal Processing, Artech House, 1991”. On the basis of the reception characteristic model of the method of selecting the frequency of the sound wave to be transmitted according to, the observation target detection probability is calculated from the calculated S / N ratio and a kind of system parameter allowable false detection probability. Yes. For this reason, since the arrangement of the transceiver and the observation target is set without determining the range in which the sound wave and the reflected wave reach according to the environment of the search sea area, a highly accurate S / N ratio can be obtained. As a result, it is difficult to accurately calculate the detection probability of the observation target.

Further, in the above-mentioned Patent Document 3, assuming a six-layer structure in water, the relationship between the propagation time and the sound speed and layer thickness of each layer is obtained by Snell's law in which sound waves and reflected waves propagate while being refracted in water. Although the target position of the underwater target is measured by analysis, it is difficult to accurately measure the position of the underwater target because the range where the sound waves and reflected waves reach is not determined according to the environment of the search sea area. is there.
(Object of invention)

  The present invention was made to solve the problems of the related art, and in order to support a multi-static sonar system, the position of an underwater object and the appropriate arrangement of a receiving apparatus corresponding thereto It is an object of the present invention to provide an underwater object search support apparatus, an underwater target search support method, and a program therefor that can set an object.

In order to achieve the above object, an underwater object search support device according to the present invention receives an echo signal included in a reflected wave from a transmission device that transmits a sound wave for searching for an underwater object toward a search sea area and the underwater object. An underwater object search support device including an input unit and an operation processing unit for supporting the operation of a multistatic sonar system including a plurality of receiving devices for specifying a position and movement change of the underwater object. The arithmetic processing unit is installed in a preset virtual search sea area and transmits a virtual sound wave from one of the virtual search sea areas to the other, a transmission direction of the transmitted virtual sound wave, and the Sound wave propagation region calculation for calculating a sound wave propagation region in the virtual search sea area based on sound velocity profile information that changes according to the depth of the virtual search sea area in the transmission direction And a predicted underwater object position that predicts an existing position of the underwater object at one or more arbitrary locations in the first area or temporarily sets it by an external command using the calculated sound wave propagation region as the first area A propagation azimuth setting means for setting the azimuth of the virtual sound wave propagating toward the temporarily set predicted position of the underwater object and setting each azimuth of a plurality of virtual reflected waves reflected by the underwater object; The sound wave propagation region located in the propagation direction of the virtual reflected wave set by the propagation azimuth setting unit is defined as a second area, and a plurality of arbitrary locations in the second area are provisionally defined as reception positions for the virtual reflected wave. determined above at a plurality of reception positions which are temporarily set a receiving position provisional setting means for provisionally setting said plurality of receiving devices in the respective receiving position, by the receiving position tentative setting means The plurality of reception positions for the virtual reflected wave from the underwater object based on the reception level of the virtual reflected wave, the transmission level of the virtual sound wave from the virtual sound wave transmitting means, and the prediction information from the predicted position of the underwater object Receiving position determination means for monitoring each reception level at the same time and sequentially determining the detection positions as the arrangement positions of the plurality of reception devices in descending order of the reception level , the reception position determination means being provisionally set Target strength acquisition means for acquiring a target strength that is a level difference between an input sound pressure level to the underwater object and a reflected sound pressure level from the underwater object; and a first propagation from the virtual sound wave transmission means to the underwater object. Propagation loss acquisition means for acquiring loss and second propagation loss from the underwater object to the temporarily set reception positions. The reception level at the plurality of reception positions is calculated from the transmission level of the virtual sound wave from the virtual sound wave transmission means, the target strength, and the first and second propagation losses, and the underwater object is temporarily set. Reception level calculation means is provided for detecting the reception level from a plurality of reception positions excluding the position in descending order and using this as the arrangement position of each receiving apparatus .

In order to achieve the above object, an underwater object search support method according to the present invention includes a transmitter for transmitting a sound wave for searching for an underwater object toward a search sea area and an echo signal included in a reflected wave from the underwater object. For a multi-static sonar system that includes a plurality of receiving devices that receive and identify changes in the position and movement of the underwater object, a virtual sea area search is set in advance to calculate the path of the virtual reflected wave, thereby An underwater object search support method for supporting search of an underwater object, wherein the virtual sound wave transmitting means is installed in a virtual search area set in advance and transmits virtual sound waves from one of the virtual search areas to the other. On the basis of the sound velocity profile information that changes depending on the direction of transmission of the generated virtual sound wave and the depth of the virtual search sea area related to the transmission direction. The sound wave propagation area calculation means calculates the area, and the calculated sound wave propagation area is set as the first area, and the presence position of the underwater object is determined at any one or more locations in the first area. The propagation direction setting means sets the azimuth of the virtual sound wave propagating toward the predicted position of the temporarily set underwater object and the respective directions of the plurality of virtual reflected waves reflected by the underwater object. The sound wave propagation region positioned in the propagation direction of the virtual reflected wave is set as the second area, and a plurality of arbitrary locations in the second area are provisionally set as reception positions for the temporarily set underwater objects. tentatively provisionally set by the plurality of the plurality of receiving devices receive position tentative setting means temporarily sets the receiving position, the temporarily set the received position tentative setting means in correspondence with each underwater objects determined to The underwater object based on each of the reception level of the virtual reflected wave at the plurality of received positions, the transmission level of the virtual sound wave from the virtual sound wave transmitting means, and the prediction information from the underwater object predicted position specifying means. Each reception level at the plurality of reception positions is monitored, and the reception position determining means determines the detection positions as the arrangement positions of the plurality of reception apparatuses in descending order of the reception levels. When determining the arrangement position of the underwater object, the reception position determining means determines the target strength, which is a level difference between the temporarily set sound pressure level to the underwater object and the reflected sound pressure level from the underwater object, and the underwater The first propagation loss to the object, the second propagation loss from the underwater object to the temporarily set reception positions, and the transmission level of the virtual sound wave are outside. In the case of partial input, the reception position determining means calculates reception levels at the plurality of reception positions, and detects from the corresponding reception positions in descending order based on the calculation result. Then, except for the temporary position of the underwater object, this is set as the arrangement position of each receiving device .

In order to achieve the above object, an underwater object search support program according to the present invention includes a transmitter for transmitting a sound wave for underwater object search toward a search sea area and an echo signal included in a reflected wave from the underwater object. Underwater object search support program comprising an input unit and an arithmetic processing unit for supporting the operation of a multistatic sonar system comprising a plurality of receiving devices for receiving a signal and identifying a change in position and movement of the underwater object A virtual sound wave transmission processing function for transmitting a virtual sound wave from one of the virtual search sea areas to the other, which is installed in a preset virtual search sea area, and the direction of the transmitted virtual sound wave and the transmission direction The sound wave propagation region for calculating the sound wave propagation region in the virtual search sea area based on the sound velocity profile information that changes according to the depth of the virtual search sea area concerned A function for predicting the position of an underwater object that uses the calculated sound wave propagation region as a first area, predicts the position of an underwater object at any one or more locations in the first area, or temporarily sets it by an external command function, the propagation direction setting function of setting the orientation of the plurality of virtual reflected wave reflected in the underwater objects and sets the orientation of the virtual sound wave propagating towards the predicted position of the temporarily set underwater objects, this The sound wave propagation region positioned in the propagation direction of the virtual reflected wave set by the propagation azimuth setting function is set as a second area, and a plurality of arbitrary locations in the second area are provisionally set as reception positions for the virtual reflected wave. determined in at a plurality of reception positions which are temporarily set receiving position tentative setting processing function of temporarily setting the plurality of receiving devices in the respective receiving position, and by the receiving position tentative setting function Based on the reception level of the virtual reflected wave, the transmission level of the virtual sound wave from the transmission position of the virtual sound wave, and the prediction information of the predicted position of the underwater object, with respect to the virtual reflected wave from each temporarily set underwater object The arithmetic processing unit includes a reception position determination function that monitors the reception levels at the plurality of reception positions and determines the reception positions as the arrangement positions of the plurality of reception devices with respect to each underwater object in descending order of the reception levels. The receiving position determination function obtains a target strength that is a level difference between the temporarily input sound pressure level to each underwater object and the reflected sound pressure level from each underwater object. A target strength acquisition function, a first propagation loss from the transmission position of the virtual sound wave to each underwater object, and the provisional Calculating a reception level at the plurality of reception positions based on a propagation loss acquisition function for acquiring the second propagation loss to the set reception positions and a transmission level of the virtual sound wave from the transmission position of the virtual sound wave; The reception level calculation function detects the highest reception level from a plurality of reception positions .

  Since the present invention is configured as described above, according to this, the sound wave propagation area of the virtual sound wave to be transmitted is calculated based on the sound velocity profile information, and the predicted positions of the underwater objects are set at arbitrary plural positions in the sound wave propagation area. Temporarily set, set the direction of the virtual sound wave that propagates toward the predicted position of the temporarily set underwater object, and set the direction of each of the multiple virtual reflected waves that are reflected by the underwater object. Is set temporarily as a plurality of receiving devices for each underwater object, and according to this, an assumed underwater object and reception of virtual reflected waves from the underwater object Can provide an excellent underwater object search support device, an underwater object search support method, and a program thereof that can efficiently set and recommend an optimal reception position for performing in advance. .

It is a block diagram which shows the structure of the underwater object search assistance apparatus in one Embodiment of this invention. It is a block diagram which shows the specific example of the receiving position determination means which shows a part of underwater object search assistance apparatus disclosed in FIG. It is a vertical sectional view which shows the area of the sound wave propagation path of the search sea area used as the object of underwater object search in the embodiment of the present invention. It is a top view which shows an example at the time of seeing the arrangement | positioning of the virtual underwater object in the search sea area disclosed in FIG. 3 from the sea surface side. FIG. 4 is a vertical sectional view showing an example of a region where a reflected wave propagation path is set in the search sea area disclosed in FIG. 3. It is a flowchart which shows the operation | movement procedure of the underwater object search assistance process of the underwater object search assistance apparatus disclosed in FIG. 1 and FIG. FIGS. 7A and 7B are diagrams showing an example of a sound wave propagation path in an underwater object search of a monostatic sonar system, FIG. 7A is an explanatory diagram showing the relationship between water depth and sound velocity gradient, and FIG. 7B is a vertical sectional view of a search sea area It is explanatory drawing which shows the propagation condition of the sound in. FIG. 8A is an illustration showing an example of a sound wave propagation path in an underwater object search of a multistatic sonar system, FIG. 8A is an explanatory diagram showing the relationship between water depth and sound velocity gradient, and FIG. 8B is a vertical sectional view of the search sea area. It is explanatory drawing which shows the propagation condition of the sound in.

Hereinafter, an embodiment of an underwater object search support apparatus according to the present invention will be described with reference to FIGS.
First, when the multistatic sonar system searches for an underwater object search in the actual search sea area, sound propagation is analyzed for the virtual search sea area, and then the specific contents of the underwater object search support device 1 are explained. To do.

[Investigation area]
The analysis contents of the sound wave propagation in the search sea area described above will be specifically described with reference to FIGS.

  FIG. 7A shows the relationship between the water depth of the search sea area 70 and the sound speed (this is referred to as “sound speed profile”). FIG. 7B shows a sound wave propagation path assumed in the search sea area 70 to be searched for the underwater object of the monostatic sonar system.

  First, as shown in FIG. 7A, the search sea area 70 from the sea surface 71 to the sea floor 72 is divided into three layers (mixed layer L1, water-climbing layer L2, deep sea isothermal layer L3), and the water depth of each layer is adjusted. The sound velocity profile Vp that varies depending on the corresponding temperature, salinity concentration, and pressure will be described.

In the mixed layer L1, the sound velocity profile Vp has a positive gradient, and the sound wave propagates while being refracted upward by Snell's law.
In the water temperature jump layer L2, the sound velocity profile Vp has a negative gradient, and the sound wave propagates while being refracted downward.
In the deep sea isothermal layer L3, the sound velocity profile Vp has a positive gradient, and the sound wave propagates while being refracted upward.

  Next, with reference to FIG. 7B, the propagation paths of three directions of sound waves (sound wave Sf1, sound wave Sf2, and sound wave Sf3) transmitted from the transmission / reception device 80 of the monostatic sonar system and detection of the underwater object 90 are detected. A method will be described.

In FIG. 7B, the sound wave Sf1 propagates while being refracted upward in the mixed layer L1, reflected by the sea surface 71, and propagated as a reflected wave Sr1.
The sound wave Sf2 propagates while being refracted downward in the water temperature jump layer L2, propagates while gradually refracting upward when entering the deep sea isothermal layer L3, and refracts downward again in the water temperature jump layer L2. Propagate, and further propagate while being refracted upward in the mixed layer L1.

  The sound wave Sf3 is reflected by the seabed 72, then propagates while being refracted upward, and reaches the underwater object 90. Then, a part of the reflected wave Sr3 reflected by the underwater object 90 is reflected by the seabed 72 through the same propagation path as the sound wave Sf3, and after being reflected by the seabed 72, it propagates while being refracted upward and is transmitted and received by the reversibility of the sound wave. Return to device 80.

  In this way, since the sound wave transmitted from the transmission / reception device 80 propagates under the influence of the sound velocity profile Vp, only the sound wave Sf3 reaches the underwater object 90, and a part of the reflected wave Sr3 is transmitted / received due to the reversibility of the sound wave. Return to device 80. Accordingly, when the reflected wave Sr3 is received by a receiving device (not shown) of the transmission / reception device 80, the underwater object 90 can be detected by the echo signal extracted from the reflected wave Sr3.

  FIG. 8A shows the sound velocity profiles Vp of the mixed layer L1, the water temperature jump layer L2, and the deep sea isothermal layer L3, which are the three layers from the sea surface 71 to the sea floor 72 of the search sea area 70, respectively. FIG. 8B shows a sound wave propagation path in the search sea area 70 to be searched for the underwater object of the multi-static sonar system as described above.

  In FIG. 8 (B), the underwater object 90 exists in the same position shown in FIG. 7 (B). In this case, of the sound waves transmitted from the transmission device 81, the sound wave Sf1 having the same orientation as the sound wave Sf3 shown in FIG. 7B reaches the underwater object 90. The virtual reflected waves Sr1, Sr2, and Sr3 reflected by the underwater object 90 propagate while being refracted in various directions under the influence of the sound velocity profile Vp of the search sea area 70.

  Here, it is assumed that the two receiving devices 82 and 83 are arranged as shown in FIG. 8B in order to receive the reflected wave. In this case, the reflected wave does not reach the receiving device 82, and the reflected wave Sr3 reaches only the receiving device 83.

  In this way, in the case of underwater object search of a multistatic sonar system in which the transmitting device and the receiving device are arranged at different positions, the reversibility of sound waves cannot be used unlike the monostatic sonar system. It is extremely important whether the device can be properly arranged.

[Basic configuration]
The basic configuration of the underwater object search support device 1 in the present embodiment will be described, and then the specific contents will be described.
As shown in FIG. 1, the underwater object search support device 1 transmits an echo signal included in a reflected wave from the underwater object and a transmission device that transmits a sound wave for searching the underwater object toward the search sea area, as described above. A multi-static sonar system that includes a plurality of receiving devices that receive and identify changes in position and movement of the underwater object. Part 4.

  Among these, as shown in FIG. 2, the arithmetic processing unit 2 is installed in a preset virtual search sea area, and a virtual sound wave transmitting means 10 for transmitting a virtual sound wave from one of the virtual search sea areas to the other, A sound wave propagation region calculating means 11 for calculating a sound wave propagation region in the virtual search sea area based on a sound direction profile information that changes in accordance with a transmission direction of the transmitted virtual sound wave and a depth of the virtual search sea area related to the transmission direction; The underwater object predicted position specifying means 12 predicts the existence position of the underwater object at any one or two or more locations in the first area using the calculated sound wave propagation region as the first area, or temporarily sets it by an external command. And.

  Further, the arithmetic processing unit 2 sets the azimuth of the virtual sound wave propagating toward the temporarily set predicted position of the underwater object and sets each azimuth of the plurality of virtual reflected waves reflected by the underwater object. Propagation direction setting means 13 and a sound wave propagation region located in the propagation direction of the virtual reflected wave set by the propagation direction setting means 13 is a second area, and a plurality of arbitrary locations in the second area are virtually reflected. A reception position provisional setting means for provisionally setting the reception positions for the waves and provisionally setting the plurality of reception apparatuses at the respective reception positions; and each reception apparatus provisionally set by the reception position provisional setting means 14 Reception position determination means 15 for adjusting the installation position to a position with a higher reception level is provided.

  Here, the reception position determining means 15 described above creates a plurality of echo maps formed by provisionally setting the reception positions of the plurality of receiving apparatuses for each of a plurality of preset underwater objects. An echo map creation function 15A for creating an echo map of an echo level by adding the echo maps of the same on the same virtual search sea area, and a plurality of the maximum positions of the reception levels in the created energy map are received positions of the receiver And a receiving position specifying function 15B.

  Therefore, although details will be described later, according to this, the sound wave propagation area of the transmitted virtual sound wave is calculated based on the sound velocity profile information, and the predicted positions of the underwater objects are temporarily set at a plurality of arbitrary positions in the sound wave propagation area. Set and set the direction of the virtual sound wave that propagates toward the predicted position of the temporarily set underwater object, and set the direction of each of the plurality of virtual reflected waves that are reflected by the underwater object. Arbitrary multiple locations in the sound wave propagation region located in advance are temporarily set as a plurality of receiving devices for each underwater object, so that the optimum of the underwater object and the receiving device is determined by the operator's operation from among the temporarily set receiving devices. It is possible to quickly set an appropriate arrangement.

[Specific configuration]
Next, each component content of the underwater object search support device 1 described above will be specifically described.

In FIG. 1, an underwater object search support device 1 performs environment simulation (sound velocity profile) of a search sea area to be searched for an underwater object and an arrangement range of a plurality of receiving devices in order to perform a simulation of the operation of the multistatic sonar system. , An input unit 3 for inputting object information of the underwater object (the type, shape, material, sound reflectance, predicted water depth, etc. of the underwater object that is the actual search target) and other necessary information.
The input unit 3 is operated by an operator, and is composed of a pointing device such as a keyboard and a mouse.

  The underwater object search support device 1 also receives an image related to a simulation of underwater object search support, for example, a virtual search area, a position of a transmission device that transmits a virtual sound wave, an arrangement of an underwater object that receives the virtual sound wave, and a virtual reflected wave And a display unit 4 for displaying the arrangement of a plurality of receiving devices and other images. The display unit 4 is composed of, for example, a liquid crystal panel (LCD), another flat display panel, a cathode ray tube (CRT), or the like.

  Furthermore, the underwater object search support device 1 includes the arithmetic processing unit 2 as described above. The arithmetic processing unit 2 is installed in a preset virtual search area given from the input unit 3, and a virtual sound wave transmission means 10 which is a transmission device for transmitting a virtual sound wave from one of the virtual search areas to the other; The sound wave propagation area in the virtual search sea area is calculated based on the transmission direction of the transmitted virtual sound wave and the sound velocity profile information (given in advance from the input unit 3) that changes depending on the depth of the virtual search sea area related to the transmission direction. And a sound wave propagation region calculating means 11. This sound wave propagation region is calculated assuming a maximum azimuth width in the sound wave propagation direction, for example.

The arithmetic processing unit 2 further sets the sound wave propagation area calculated by the sound wave propagation area calculating unit 11 as a first area, and predicts and temporarily sets the presence positions of the underwater objects at a plurality of arbitrary locations in the first area. The underwater object predicted position specifying means 12 is provided.
Most of the predicted positions are input from the outside in advance. However, the predicted positions may be set by position information programmed and specified in advance at the same time as setting the search sea area.

  The arithmetic processing unit 2 sets the azimuth of the virtual sound wave propagating toward the temporarily set predicted position of the underwater object and sets the azimuth of the plurality of virtual reflected waves reflected by the underwater object. 13 is provided.

  Further, the arithmetic processing unit 2 temporarily sets a plurality of arbitrary locations in the second area with the sound wave propagation region positioned in the propagation direction of the virtual sound wave set by the propagation direction setting means 13 as the second area. In addition, provisional reception position setting means 14 is provided that provisionally sets reception positions for each underwater object and temporarily sets a plurality of reception devices at the plurality of reception positions.

  Therefore, the underwater object search support device 1 calculates the sound wave propagation region of the transmitted virtual sound wave based on the sound velocity profile information, temporarily sets the predicted position of the underwater object at any plurality of locations within the sound wave propagation region, Sets the direction of the virtual sound wave that propagates toward the set predicted position of the underwater object and sets each direction of the multiple virtual reflected waves that are reflected by the underwater object, and propagates the sound wave that is positioned ahead of the propagation direction of the virtual reflected wave Since a plurality of arbitrary locations in the area are temporarily set as a plurality of receiving devices for each underwater object, an optimum arrangement of the underwater object and the receiving device can be quickly set by an operator's operation from the temporarily set receiving devices. It becomes possible.

  Further, the arithmetic processing unit 2 shown in FIG. 1 receives virtual reflected wave reception levels at a plurality of reception positions temporarily set by the reception position temporary setting means 14 corresponding to each temporarily set underwater object, virtual Based on the transmission level of the virtual sound wave from the sound wave transmitting means 10 and the prediction information from the underwater object predicted position specifying means 2, the reception levels at a plurality of reception positions for each underwater object are monitored, and reception of the highest reception level is performed. Receiving position determining means 15 is provided for determining positions (for example, reference numerals 82 and 83 in FIG. 8B) as the arrangement positions of the plurality of receiving devices described above with respect to each underwater object.

  Accordingly, the reception position determination unit 15 determines a reception position having a high reception level as an arrangement position of the plurality of reception devices with respect to each underwater object from the plurality of reception positions temporarily set by the reception position provisional setting unit 14 described above. Therefore, the optimal arrangement of the underwater object and the receiving device can be set without requiring an operator's operation.

  Specifically, as shown in FIG. 2, the reception position determination means 15 shown in FIG. 1 includes the type, shape, material, sound reflectance of the underwater object that is the actual search target supplied from the input unit 3. Target strength that obtains (calculates) the level difference between the input sound pressure level to the virtual underwater object and the reflected sound pressure level from the virtual underwater object (this is the target strength (TS)) based on the predicted water depth, etc. Acquisition means 18 is provided.

  In addition, the reception position determination means 15 described above includes the first propagation loss (TL1) from the transmission position to the virtual underwater object at each predicted position based on the environmental information supplied from the input unit 3, and the virtual underwater object at each predicted position. Is provided with a propagation loss acquisition means 19 for acquiring a second propagation loss (TL2) from the temporary reception position to each provisional reception position.

Further, the reception position determining means 15 calculates the reception level (Lr) from the virtual sound wave transmission level (Lt) for each provisional reception position corresponding to each predicted position. In consideration of (TL1, TL2), reception level calculation means 20 for performing the following calculation is provided.
Lr = Lt−TL1−TL2 + TS

  Therefore, the underwater object search support device 1 according to the present embodiment calculates the reception level of the reflected wave reflected by the virtual underwater object with extremely high accuracy, thereby searching for the underwater object that is the actual search target. A simulation for efficiently supporting the operation of the system can be executed.

  The reception level calculation unit 20 described above includes a distribution information acquisition unit 21 that acquires distribution information of reception levels at a plurality of reception positions corresponding to each underwater object, and a plurality of underwater units obtained by the distribution information acquisition unit 21. Distribution information adding means 22 for calculating distribution distribution information by adding distribution information corresponding to the object, and detecting a maximum position where the reception level is maximum in a position other than the position where the plurality of underwater objects exist in the added distribution information And a local maximum position detecting means 23 for determining the local maximum position as an arrangement position of a plurality of receiving devices.

  Therefore, for example, by displaying the maximum position on the screen of the display unit 4 according to color or brightness, the optimum position of the receiving device can be clearly presented to the operator.

  Further, in the arithmetic processing unit 2 of the underwater object search support apparatus 1 shown in FIG. 1, the propagation direction setting means 13 is obtained from each predicted position, object information, and environment information set by the underwater object predicted position specifying means 12. A plurality of directions from each predicted position is set based on the relationship between the water depth and the sound velocity profile.

  Therefore, when an underwater object that is the actual search target is placed at each predicted position, the underwater object type, shape, material, sound reflectance, predicted water depth, etc., and the relationship between the water depth and the sound velocity profile The plurality of directions of the propagation path of the reflected wave from the underwater object can be accurately set.

  Next, a specific method of underwater object search support by the underwater object search support device 1 shown in FIG. 1 will be described.

  First, FIG. 3 is a vertical sectional view showing a range from the sea surface 61 to the sea bottom 62 of the search sea area 60 (virtual search sea area) displayed on the screen of the display unit 4 shown in FIG. In this case, designation data necessary for setting the search sea area 60 is inputted from the input unit 3 shown in FIG.

  Then, each data such as wind speed value, wave height value, sea bottom quality, ambient noise, sound speed profile, etc., which is designated data of the environment information of the search sea area 60, is input from the input unit 3 to the arithmetic processing unit 2 of the underwater object search support device 1, for example. Entered.

  Furthermore, from the input unit 3, the type, shape, material, sound reflectance, predicted water depth, etc. of the underwater object that is object information of the underwater object, the transmission position of the transmission device 30, and the transmission output level of the transmitted sound wave, Are input to the arithmetic processing unit 2.

  Here, the search sea area 60 and the various designation data of the environment information input from the input unit 3 are data measured in the actual search sea area, for example, wind speed value by the wind speed measuring instrument, wave height value by the wave height measuring instrument, noise It may be ambient noise data by a measuring instrument, or data published on the Internet or data input by an operator based on a screen that visually displays seafloor terrain data available from a specific organization.

  Based on the sound wave propagation analysis described with reference to FIG. 7, the sound wave propagation region calculation means 11 shown in FIG. 1 shows the sound wave propagation region transmitted from the transmission device 30 based on the input sound speed profile information as shown in FIG. A first area indicated by cross hatching is calculated.

  Further, the underwater object predicted position specifying means 12 of the arithmetic processing unit 2 shown in FIG. 1 has two ranges in the vicinity of the predicted depth D (z1) where the predicted depth D input from the input unit 3 is z1. The range of 63 and the range of the arrow 64 are predicted and provisionally set as the presence positions of the underwater objects in the first area.

  FIG. 4 shows a search sea area (virtual search sea area) including predicted positions of the five virtual underwater objects 40 (40a to 40e) temporarily set by the underwater object predicted position specifying means 12 as seen from the sea surface side (above the sky). FIG.

Next, the arithmetic processing unit 2 uses the horizontal position and depth of each virtual underwater object 40 as the transmission-side sound wave propagation calculation parameters input from the input unit 3 in addition to the transmission position and the sound wave transmission output level described above. The position, transmission depth, transmission frequency, and transmission directivity are set.
For example, when the virtual underwater object 40c is designated, the underwater object predicted position specifying unit 12 determines the plane position H (x1, y1) of the virtual underwater object 40c when viewed from the sea surface side, and the water depth viewed from the vertical section. By inputting the position D (z1), the three-dimensional position P (x1, y1, z1) in the underwater of the virtual underwater object 40c is set.

  The propagation azimuth setting means 13 shown in FIG. 1 determines the azimuth of the propagation path that reaches the position P (x1, y1, z1) of the virtual underwater object 40c through the first cross hatching area shown in FIG. It has a function to set.

  In FIG. 4, the transmission device 30 (transmission position) directs the virtual sound wave Sfc toward the underwater object 40c through the propagation path according to the direction set by the propagation direction setting means 13, as indicated by the solid line arrow. Works to make a call. Then, the propagation loss acquisition means 19 shown in FIG. 1 transmits the propagation loss (TL1) of the propagation path from the transmission position to the virtual underwater object 40c based on the environmental information (water depth, water quality, sound velocity profile, etc.) input in advance. To get.

  Here, the propagation azimuth setting means 13 propagates through the first area of cross hatching shown in FIG. 3 to reach the predicted positions of the four underwater objects 40a, 40b, 40d, and 40e other than the underwater object 40c. It also has a function to set the direction of the route. The propagation loss acquisition unit 19 functions to acquire the propagation loss of the propagation path in each direction set by the propagation direction setting unit 13.

  The virtual sound wave Sfc that has reached the virtual underwater object 40c is reflected in various directions by the virtual underwater object 40c as shown by the dotted arrows in FIG. The direction and intensity (level) of the reflected wave are the object information input from the input unit 3 and are the type, shape, material, sound reflectance, predicted water depth, etc. of the underwater object that is the actual search target, and environmental information. It is affected by a certain depth, water quality, sound velocity profile, etc.

  The target strength acquisition means 18 shown in FIG. 1 includes the target strength (TS) included in the object information input from the input unit 3, that is, the input sound pressure level to the virtual underwater object 40c and the reflection from the virtual underwater object 40c. Get the level difference from the sound pressure level. When the reflected sound pressure level is higher than the input sound pressure level, the target strength (TS) is a positive value. On the other hand, when the reflected sound pressure level is smaller than the input sound pressure level, the target strength (TS) is a negative value.

  FIG. 5 is a vertical sectional view of the search sea area 60 showing the range of the propagation path of the virtual reflected wave from the underwater object 40c. According to the sound wave propagation analysis described with reference to FIG. 7, the propagation path of the virtual reflected wave from the underwater object 40c is limited to the second area of cross-hatching shown in FIG. 5, and does not propagate to other ranges.

  For this reason, the propagation azimuth setting means 13 shown in FIG. 1 sets a plurality of azimuths of the virtual reflected wave reflected from the position P (x1, y1, z1) of the virtual underwater object 40c in the second area.

  For example, when it is designated from the input unit 3 shown in FIG. 1 that the range of water depth in which the receiving device is arranged is between D (z1) and D (z2) close to the sea surface 61, the propagation azimuth setting means 13 A plurality of directions of the virtual reflected wave are set within a range 65 of a substantially trapezoidal conical three-dimensional water area having D (z1) in the second area as the bottom surface and D (z2) as the top surface.

  The reception position provisional setting means 14 shown in FIG. 1 sets the provisional reception position 50 shown in FIG. 4 as the provisional reception position of the receiving device in one azimuth of the reflected wave Src described above.

  In addition, the underwater object search support device 1 holds environment information (water depth, water quality, sound velocity profile, etc.) that is a sound wave propagation calculation parameter on the receiving side input from the input unit 3 in a memory (not shown). .

  Thereby, the propagation loss acquisition means 19 shown in FIG. 1 can acquire the propagation loss (TL2) of the propagation path from the virtual underwater object 40c to the provisional reception position 50 based on the environmental information.

  Here, the propagation azimuth setting means 13 may be configured to display the set azimuth on the screen of the display unit 4 and reset the azimuth selected by the operator. In this case, by limiting the range of the arrangement position of the receiving device, the processing of the reception position provisional setting means 14 and the processing of the propagation loss acquisition means 19 are simplified, and the faster processing of the underwater object search support device 1 is performed. Enable.

  Next, the reception position determination means 15 shown in FIG. 1 calculates the reception levels of the virtual reflected waves from the virtual underwater objects 40a to 40e at the five predicted positions at the provisional reception position, and receives them based on the reception levels. Determine the location of the device.

  In this case, the reception position determination unit 15 includes the transmission level (Lt) of the virtual sound wave, the propagation loss TL1 (first propagation loss) and the propagation loss TL2 (second propagation loss) acquired by the propagation loss acquisition unit 19, the target Based on the TS acquired by the strength acquisition means 18, the reception level (Lr) at the temporary reception position is calculated.

  Further, the reception level calculation means 20 in the reception position determination means 15 acquires distribution information of a plurality of provisional reception positions corresponding to each prediction position by the distribution information acquisition means 21, and the plurality of prediction positions by the distribution information addition means 22. A maximum position at which the reception level is maximized at a position other than the plurality of predicted positions is detected in the added distribution information by the maximum position detection means 23, and the maximum position is arranged in the receiving device. Determine as position.

  The reception position determination unit 15 displays the determined arrangement position of the reception device on the screen of the display unit 4. Therefore, the operator can clearly grasp the arrangement position of the displayed receiving apparatus as the optimum position of the actual receiving apparatus.

  Here, the arithmetic processing unit 2 (virtual sound wave transmitting means 10 to receiving position determining means 15) constituting the underwater object search support device 1 may be configured by hardware such as an electronic circuit or a CPU (Central Processing Unit). And a ROM (Read Only Memory) storing a program executed by the CPU, a RAM (Random Access Memory) that is a work area of the CPU, and the like.

(Processing operation of the arithmetic processing unit 2)
Next, the overall calculation processing operation of the calculation processing unit 2 of the underwater object search support device 1 will be described based on the flowchart showing the underwater object search support procedure of FIG.

In FIG. 6, the arithmetic processing unit 2 designates a search sea area according to an external command from a screen that visualizes seafloor topographic data captured from the Internet or a specific organization via the input unit 3 (step S <b> 101).
Next, the arithmetic processing unit 2 uses the input unit 3 as a sound velocity profile, which is marine environment information, wind speed, wave height, sea bottom quality, and ambient noise as values from an anemometer or noise measuring instrument. In addition, in accordance with an instruction from the outside, the depth of existence prediction of the underwater object and the target strength are set, thereby setting the environmental conditions in which the virtual search area for the search area is close to the actual state. (Step S102).

Subsequently, the arithmetic processing unit 2 sets the predicted presence position of the underwater object (the range of the first area shown in FIG. 3) according to an instruction from the outside. In this case, the predicted presence position of the underwater object may be configured such that the calculation processing unit 2 confidence is freely set at a random position (step S103).
Next, the arithmetic processing unit 2 sets the transmission position of the transmission device (the position of the transmission device 30 shown in FIG. 3) in accordance with an instruction from the outside (step S104). At the same time, the arithmetic processing unit 2 sets parameters such as transmission depth, transmission frequency, transmission level, transmission directivity, etc., which are transmission-side sound wave propagation calculation parameters, according to an external command (step S105).

  That is, the arithmetic processing unit 2 specifies the transmission output level of the virtual sound wave to be virtually transmitted, the horizontal position and the water depth position of each virtual underwater object, and the virtual sound wave from the transmission position arrives according to the environmental information of the search sea area. Then, within the determined range (the range of the first area shown in FIG. 3), five predicted positions of the virtual underwater object specified based on preset object information (the virtual underwater object shown in FIG. 4) 40a to 40e), and the direction of the virtual sound wave toward each of the set predicted positions is set, and a plurality of directions of the virtual reflected wave reflected from the virtual underwater object at each predicted position based on the object information Is identified.

  In this case, the acoustic wave propagation area in the virtual search sea area, the direction of the virtual reflected wave from the virtual underwater object, and the like are specifically specified by simulation by operating the transmission device.

  For this reason, first, the virtual sound wave transmitting means 10 is installed in a preset virtual search sea area and transmits a virtual sound wave from one of the virtual search sea areas to the other (virtual sound wave transmission processing step). Next, based on the sound velocity profile information that varies depending on the direction of transmission of the transmitted virtual sound wave and the depth of the virtual search sea area related to the direction of sound transmission, the sound wave propagation area calculation means 11 calculates the sound wave propagation area in the virtual search sea area. Is calculated (acoustic wave propagation region calculation step).

Subsequently, when the calculated sound wave propagation area is calculated, it can be displayed on the display unit 4 as the first area, and the operator can be informed of the information related to the sound wave propagation area. One of the important functions as a support device is executed.
Then, the underwater object predicted position specifying means predicts and temporarily sets the presence position of the underwater object at one or more arbitrary locations in the first area (underwater object temporary setting step). The setting in this case is executed when an external command is input.

Next, the propagation azimuth setting means is specified for the azimuth of the virtual sound wave propagating toward the temporarily set underwater object predicted position (for example, 40c) and the respective azimuths of the plurality of virtual reflected waves reflected by the underwater object. Executed (sound propagation direction setting step).
Then, the sound wave propagation region positioned in the propagation direction of the set virtual reflected wave is set as the second area, and a plurality of arbitrary locations in the second area are provisionally set as reception positions for the temporarily set underwater objects. The reception position provisional setting means provisionally sets the plurality of reception devices at the plurality of reception positions (reception position provisional setting step).

Next, the arithmetic processing unit 2 applies the transmission output level (Lt), the first and second target values to the predicted position of existence of one designated virtual underwater object (the virtual underwater object 40c shown in FIG. 4). Based on each sound wave propagation loss (TL1, TL2) and target strength (TS), the reception level (echo level: Lr) at the provisional reception position is calculated by the following equation, and the reception position is recommendedly displayed (step S106).
Lr = Lt−TL1−TL2 + TS
Here, the transmission output level (Lt) is set in step S105 described above, and the target strength (TS) is set in step S102.

  Further, the first sound wave propagation loss (TL1) is transmitted from the intersection point P where the predicted depth D (z1) of the underwater object 40c and the predicted presence position H of the underwater object 40c intersect, as is apparent from FIG. It is calculated based on the distance from the position of the device 30. Further, the second sound wave propagation loss (TL2) is within the range of the region 65 where the reflected sound reflected by the underwater object 40c reaches and is in the line of the reception depth D (z1), as is already apparent in FIG. Calculated based on Then, by calculating the echo level Lr for the remaining azimuths, the arithmetic processing unit 2 calculates an echo level map for the planned existence position P of one underwater object 40c.

An echo level energy map can be created by calculating this echo level map with respect to the presence predicted positions of all underwater objects and adding the echo level maps for the predicted positions of all underwater objects. This is the energy map creation function 15A provided in the arithmetic processing unit 2.
In this case, the position where the echo level energy map is high other than the predicted presence position H of the underwater object is a position suitable for arranging the reception position in the operation of the multistatic sonar. In addition, as a reception position to be recommended at this time, it is possible to recommend a plurality of positions by selecting a plurality of positions with high energy maps. This is the reception position specifying function 15B provided in the arithmetic processing unit 2.

  Next, the arithmetic processing unit 2 sets parameters such as reception depth, reception directivity, reception bandwidth, reception directivity gain, water quality, and sound velocity profile, which are sound wave propagation calculation parameters on the reception side (step S107).

  As described above, the provisional reception position in each azimuth of the virtual reflected wave is set as described above within the range (second area shown in FIG. 5) determined that the virtual reflected wave arrives according to the environment information. The reception position recommended in step S106 described above is recommended by simple sound wave propagation calculation, and is intended to be set more quickly than accuracy. For this reason, here, the sound wave propagation calculation is performed using the transmission-side sound wave propagation calculation parameter set in step S105 and the reception-side sound wave propagation calculation parameter set in step S107.

  Specifically, the reception level of the virtual reflected wave at the plurality of reception positions provisionally set by the reception position provisional setting means 14 corresponding to each temporarily set underwater object, the virtual sound wave transmission Based on the transmission level of the virtual sound wave from the means and the prediction information from the underwater object predicted position specifying means 12, the reception levels at the plurality of reception positions with respect to the underwater object are monitored, and the plurality of receptions are received. The reception position determination means 15 determines the detection positions as the arrangement positions of the plurality of reception devices in descending order of the reception level at the positions.

That is, for each of a plurality of preset underwater objects, the reception position determination means 15 temporarily sets the arrangement position of each of the plurality of reception devices for each underwater object, and a plurality of echo maps for each reception device. And creating an energy map of the echo level of the virtual reflected wave by superimposing these created echo maps, specifying the maximum position of the reception level in the created energy map, and placing the plurality of the maps on the receiving device It was made to be a position.
As a result, an area in which an underwater object can be detected at the recommended reception position can be output quickly and accurately through the display unit 4 (step S108: reception position determination step).

  In this case, the operator can confirm the detectable area at the recommended reception position, and if necessary, can finely adjust the reception position to identify the final reception position. .

  As described above, the recommended method of the reception position in the multi-static sonar operation according to the present embodiment has an advantage that the load on the operator can be reduced as well as shortening the time for determining the optimum reception position.

Here, in the above-described reception processing of data input to the input unit 3 and various data processing operations (each step and each processing step) by the arithmetic processing unit 2, the execution contents are programmed and executed on a computer. You may comprise.
(Effect of embodiment)

  As described above, according to the underwater object search support device 1 of the above-described embodiment, the sound wave propagation region of the virtual sound wave to be transmitted is calculated based on the sound velocity profile information, and the underwater object is located at any plurality of locations within the sound wave propagation region. Temporarily set the predicted position of the virtual sound wave, set the direction of the virtual sound wave propagating toward the predicted position of the temporarily set underwater object, and set the direction of each of the plurality of virtual reflected waves reflected by the underwater object. Since a plurality of arbitrary locations in the sound wave propagation region positioned ahead in the propagation direction of the sound are temporarily set as a plurality of receiving devices for each underwater object, the underwater object and the reception are performed by an operator's operation from the plurality of temporarily set receiving devices. The optimal arrangement of the device can be set.

  Further, in this case, the reception position having the highest reception level is determined as the arrangement position of the plurality of reception devices with respect to each underwater object from among the plurality of provisionally set reception positions, so that there is no need for operator operation. The optimal arrangement of the underwater object and the receiving device can be set.

  The present invention can be applied to the manufacturing industry for manufacturing a multi-static sonar system and other related industries.

DESCRIPTION OF SYMBOLS 1 Underwater object search assistance apparatus 2 Arithmetic processing part 3 Input part 4 Display part 10 Virtual sound wave transmission means 11 Sound wave propagation area calculation means 12 Underwater object prediction position specification means 13 Propagation direction setting means 14 Reception position temporary setting means 15 Reception position determination means 15A Energy map creation function 15B Reception position specifying function 18 Target strength acquisition means 19 Propagation loss acquisition means 20 Reception level calculation means 21 Distribution information acquisition means 22 Distribution information addition means 23 Maximum position detection means 30 Transmitter 40 Underwater object 50 Temporary reception position 60 Search area

Claims (12)

A transmitting device for transmitting a sound wave for searching for an underwater object toward a search sea area, and a plurality of receiving devices for receiving an echo signal included in a reflected wave from the underwater object and identifying a change in position and movement of the underwater object. An underwater object search support device including an input unit and an operation processing unit for supporting the operation of the multistatic sonar system provided,
The arithmetic processing unit is
A virtual sound wave transmitting means that is installed in a preset virtual search area and transmits a virtual sound wave from one of the virtual search areas to the other;
A sound wave propagation region calculating means for calculating a sound wave propagation region in the virtual search sea area based on a sound velocity profile information that changes in accordance with a transmission direction of the transmitted virtual sound wave and a depth of the virtual search sea area related to the transmission direction; ,
Underwater object predicted position specifying means for predicting the existence position of an underwater object at any one or two or more locations in the first area using the calculated sound wave propagation region as a first area, or temporarily setting by an external command;
A propagation azimuth setting means for setting the azimuth of the virtual sound wave propagating toward the temporarily set predicted position of the underwater object and setting each azimuth of a plurality of virtual reflected waves reflected by the underwater object;
The sound wave propagation region located in the propagation direction of the virtual reflected wave set by the propagation azimuth setting unit is defined as a second area, and a plurality of arbitrary locations in the second area are provisionally defined as reception positions for the virtual reflected wave. A reception position provisional setting means for tentatively setting the plurality of reception devices at each reception position;
The reception level of the virtual reflected wave at a plurality of reception positions temporarily set by the reception position provisional setting unit, the transmission level of the virtual sound wave from the virtual sound wave transmission unit, and the prediction information from the underwater object predicted position specifying unit Based on the reception, the reception levels at the plurality of reception positions with respect to the virtual reflected wave from the underwater object are monitored, and the detection positions are sequentially determined as the arrangement positions of the plurality of reception devices in descending order of the reception levels. A position determining means ,
The reception position determining means includes
Target strength acquisition means for acquiring target strength, which is a level difference between a temporarily set input sound pressure level to the underwater object and a reflected sound pressure level from the underwater object, and from the virtual sound wave transmission means to the underwater object Propagation loss acquisition means for acquiring the first propagation loss and the second propagation loss from the underwater object to the temporarily set reception positions,
The reception level at the plurality of reception positions is calculated from the transmission level of the virtual sound wave from the virtual sound wave transmission means, the target strength, and the first and second propagation losses, and the temporary position of the underwater object is determined. An underwater object search support device , comprising: a reception level calculation unit that detects the reception level in descending order from a plurality of reception positions excluding a plurality of reception positions and sets the reception levels as positions of the reception devices. The underwater object search support device according to claim 1,
The reception level calculation means of the reception position determination means has a plurality of reception positions when the transmission level of the virtual sound wave is Lt, the target strength is TS, and the first and second propagation losses are TL1 and TL2, respectively. The underwater object search support device characterized in that the reception level Lr is calculated by an arithmetic expression Lr = Lt−TL1−TL2 + TS . The underwater object search support device according to claim 1 ,
The reception position determining means creates a plurality of echo maps formed by temporarily setting the reception positions of the plurality of receiving devices for each of a plurality of preset underwater objects, and the plurality of echo maps are the same. An energy map creation function for creating an echo level energy map by adding on the virtual search sea area, and a reception position specifying function in which a plurality of maximum reception level positions in the created energy map are received positions of the reception device And an underwater object search support device. The underwater object search support device according to claim 1 ,
The reception level calculation means is obtained by a distribution information acquisition means for acquiring, as distribution information, reception levels at which virtual reflected waves from a plurality of preset underwater objects are received at a plurality of reception positions, and obtained by the distribution information acquisition means. Distribution information adding means for calculating distribution distribution information by adding distribution information corresponding to the plurality of underwater objects, and the reception level at a position other than the presence positions of the plurality of underwater objects in the addition distribution information An underwater object search support device, comprising: a maximum position detecting unit that detects a maximum position at which the maximum value becomes a maximum and determines the maximum position as an arrangement position of the plurality of receiving devices. The underwater object search support device according to claim 1,
The propagation azimuth setting means includes a water depth and a sound speed profile obtained from the presence positions of a plurality of underwater objects temporarily set by the underwater object predicted position specifying means, preset object information, and preset environment information. An underwater object search support device characterized in that, based on the relationship, the azimuth of the plurality of virtual reflected waves from the position where each underwater object exists is set. A transmitting device for transmitting a sound wave for searching for an underwater object toward a search sea area, and a plurality of receiving devices for receiving an echo signal included in a reflected wave from the underwater object and identifying a change in position and movement of the underwater object. An underwater object search support method for supporting a search for an underwater object by setting a virtual sea area search in advance for a multistatic sonar system provided and calculating a path of a virtual reflected wave.
The virtual sound wave transmitting means is installed in a preset virtual search sea area and the virtual sound wave transmitting means transmits the virtual sound wave from one of the virtual search sea areas to the other,
Based on the sound velocity profile information that changes depending on the transmission direction of the transmitted virtual sound wave and the depth of the virtual search sea area related to the transmission direction, the sound wave propagation area calculation means calculates the sound wave propagation area in the virtual search sea area,
Underwater object prediction position specifying means predicts and temporarily sets the presence position of the underwater object at any one or two or more locations in the first area with the calculated sound wave propagation region as the first area,
The propagation azimuth setting means sets the azimuth of the virtual sound wave propagating toward the temporarily set predicted position of the underwater object and each azimuth of the plurality of virtual reflected waves reflected by the underwater object,
The sound wave propagation region positioned in the propagation direction of the virtual reflected wave is set as the second area, and a plurality of arbitrary locations in the second area are provisionally determined as reception positions for the temporarily set underwater objects. The reception position provisional setting means temporarily sets the plurality of reception devices at the plurality of reception positions,
The reception level of the virtual reflected wave at a plurality of reception positions provisionally set by the reception position provisional setting means corresponding to each temporarily set underwater object, the virtual sound wave from the virtual sound wave transmission means, Based on each of the transmission level and the prediction information from the underwater object predicted position specifying means, each reception level at the plurality of reception positions for the underwater object is monitored, and the detection positions are determined in descending order of the reception level. The receiving position determining means determines the arrangement position of the plurality of receiving devices, and
A target that is a level difference between a temporarily set input sound pressure level to the underwater object and a reflected sound pressure level from the underwater object when the arrangement position of each receiving device is determined. When the strength, the first propagation loss to the underwater object, the second propagation loss from the underwater object to the temporarily set reception positions, and the transmission level of the virtual sound wave are externally input The position determining means calculates reception levels at the plurality of reception positions,
Based on the calculation result, the corresponding reception positions are detected in descending order of the reception level, and then the temporary position of the underwater object is excluded and this is set as the arrangement position of each receiving device. Underwater object search support method. The underwater object search support method according to claim 6 ,
At the time of determining the arrangement position of each receiving device, the reception position determining means is assumed that the transmission level of the virtual sound wave is Lt, the target strength is TS, and the first and second propagation losses are TL1 and TL2, respectively. An underwater object search support method, wherein reception levels Lr at the plurality of reception positions are calculated by an arithmetic expression Lr = Lt−TL1−TL2 + TS . The underwater object search support method according to claim 6 ,
For each of the plurality of preset underwater objects, the reception position determination means creates a plurality of echo maps by temporarily setting the arrangement positions of the plurality of receiving devices for each underwater object,
Create an energy map of the echo level of the virtual reflected wave by superimposing these created echo maps.
An underwater object search support method characterized in that a maximum position of the reception level in the created energy map is specified, and a plurality of the reception level is set as the arrangement position of the receiving device. A transmitting device for transmitting a sound wave for searching for an underwater object toward a search sea area, and a plurality of receiving devices for receiving an echo signal included in a reflected wave from the underwater object and identifying a change in position and movement of the underwater object. An underwater object search support program including an input unit and an operation processing unit for supporting the operation of the multi-static sonar system provided,
A virtual sound wave transmission processing function for transmitting a virtual sound wave from one of the virtual search areas to the other, which is installed in a preset virtual search area,
A sound wave propagation region calculation function for calculating a sound wave propagation region in the virtual search sea area based on the sound velocity profile information that changes in accordance with the transmission direction of the transmitted virtual sound wave and the depth of the virtual search sea area related to the transmission direction;
An underwater object predicted position specifying function that predicts an existing position of an underwater object at any one or two or more locations in the first area using the calculated sound wave propagation region as a first area, or temporarily sets by an external command,
A propagation azimuth setting function for setting the azimuth of the virtual sound wave propagating toward the temporarily set predicted position of the underwater object and setting each azimuth of a plurality of virtual reflected waves reflected by the underwater object;
The sound propagation area located in the propagation direction destination of the virtual reflected wave is set processed by propagation angles set this function as a second area of any plurality of locations of the second area as a receiving position with respect to the virtual reflected wave Provisional setting processing function for provisional setting of provisionally setting the plurality of reception devices at the respective reception positions.
And the reception level of the virtual reflected wave at a plurality of reception positions temporarily set by the reception position provisional setting function, the transmission level of the virtual sound wave from the transmission position of the virtual sound wave, and the prediction information of the predicted position of the underwater object The reception levels at the plurality of reception positions with respect to the virtual reflected waves from the provisionally set underwater objects, and the reception positions with respect to the underwater objects in descending order of the reception levels. A reception position determination function for determining the arrangement position of the computer is executed by a computer provided in the arithmetic processing unit ;
The reception position determination function
A target strength acquisition function for acquiring a target strength that is a level difference between the temporarily set input sound pressure level to each underwater object and a reflected sound pressure level from each underwater object; and from the transmission position of the virtual sound wave A propagation loss acquisition function for acquiring a first propagation loss to each underwater object and a second propagation loss from each of the underwater objects to the temporarily set reception positions; and a virtual sound wave from the transmission position of the virtual sound wave wherein the plurality of underwater objects search for support was characterized by being configured by the reception level calculating function for detecting the highest reception level received level calculated from the plurality of receiving positions of the receiving position by the outgoing level program. In the underwater object search support program according to claim 9 ,
When the reception level calculation function of the reception position determination function has the transmission level of the virtual sound wave as Lt, the target strength as TS, and the first and second propagation losses as TL1 and TL2, respectively, at the plurality of reception positions. The underwater object search support program characterized in that the reception level Lr is calculated by an arithmetic expression Lr = Lt−TL1−TL2 + TS . In the underwater object search support program according to claim 9 ,
The reception level calculation function
Distribution information acquisition function for acquiring reception level distribution information at a plurality of reception positions corresponding to each underwater object, and adding and adding distribution information corresponding to the plurality of underwater objects obtained by the distribution information acquisition function A distribution information adding function for calculating distribution information; and detecting a local maximum position where the reception level is maximum in a position other than the presence positions of the plurality of underwater objects in the additional distribution information, and receiving the local maximum positions. Consists of a maximum position detection function that is determined as the arrangement position of the device,
An underwater object search support program characterized by causing the computer to execute this. In the underwater object search support program according to claim 9 ,
The propagation direction setting function
Each underwater object based on the relationship between the water depth and sound velocity profile obtained from the presence position of each underwater object temporarily set by the underwater object predicted position specifying function , preset object information, and preset environment information It has a configuration including a function to set a plurality of directions from the existing position,
An underwater object search support program characterized by causing the computer to execute this.

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