JPH0545880B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a method for guiding an underwater vehicle to a target.

[Conventional technology]

Conventionally, there has been an underwater vehicle 1 as shown in FIG. This underwater vehicle 1 has a homing acoustic transducer 11 at its front end, and a pair of left and right side rudders 2 at its rear.

Then, as shown in Figure 4 a and b, by using such an underwater vehicle 1, let's track and capture a target A such as a target on the sea or another underwater vehicle by acoustic homing. In this case, if there is a depth difference between the target A and the underwater vehicle 1, the angle of attack of the rear transverse rudder 2 of the underwater vehicle 1 is controlled to adjust the depth of the underwater vehicle 1. The underwater vehicle 1 is guided toward the target A while changing the direction.

Note that the symbol BP in FIGS. 4a and 4b indicates a beam pattern.

[Problem that the invention seeks to solve]

However, in such conventional guidance methods for underwater vehicles, when changing the depth, the underwater vehicle 1
The attitude of the underwater vehicle 1 is tilted, that is, the pitch angle taken by the underwater vehicle 1 becomes P (≠0), so when the underwater vehicle 1 rises upward as shown in Figure 4a, the homing signal In addition to the signal b from the target A, the signal a due to reflection from the sea surface W is included, and if the underwater vehicle 1 is descending downward as shown in Fig. 4b, the homing signal is , b from the target object A, and c due to reflection from the seabed B, which poses a problem in that true target tracking cannot be performed in either case.

The present invention is an attempt to solve such problems, and aims to improve the level of an underwater vehicle by making it possible to guide the underwater vehicle to a target while maintaining the attitude of the underwater vehicle almost horizontally. The purpose is to provide a posture-based guidance method.

[Means for solving problems]

For this reason, the horizontal attitude type guidance method for an underwater vehicle of the present invention, when guiding an underwater vehicle equipped with a homing acoustic transducer at the front end to a target object while changing its depth, The underwater vehicle is guided to the target object while maintaining the attitude of the underwater vehicle substantially horizontally using side rudders provided at the front and rear parts of the underwater vehicle. It is said that

[Effect]

In the above-described method for guiding an underwater vehicle in a horizontal position according to the present invention, the underwater vehicle is guided while changing its depth.
When guiding the underwater vehicle to a target, the angle of attack of the side rudders installed at the front and rear of the underwater vehicle is controlled. It is performed so that the posture remains almost horizontal. In this way, the underwater vehicle is guided to the target object.

〔Example〕

Hereinafter, a horizontal attitude type guidance method for an underwater vehicle as an embodiment of the present invention will be explained with reference to the drawings. The figure is a schematic side view showing an underwater vehicle used in this method, and FIG. 3 is a block diagram of an apparatus for carrying out this method. The same reference numerals indicate substantially similar parts.

First, as shown in FIG. 2, the underwater vehicle 1 used in this method is equipped with a homing acoustic transducer 11 at its front end, and also has a center of gravity and a center of buoyancy of the underwater vehicle 1. A pair of left and right side rudders 3 and 2 are provided at the front and rear of the vehicle, respectively.

These side rudders 2 and 3 (the side rudder 2 has a rear part, and the side rudder 3 has a front part) are each driven by an actuator. The operation (rotation operation or expansion/contraction operation) of each actuator is controlled by a servo valve or the like. That is, a forward steering mechanism 9 (see Fig. 3) is composed of the side rudder 3, an actuator for driving the side rudder 3, a servo valve, etc., and a rear steering mechanism 10 is constituted by the side rudder 2, an actuator for driving the side rudder 2, a servo valve, etc. (See Figure 3).

Further, as shown in FIG. 3, the underwater vehicle 1 is provided with a pitch detector 4 and a depth signal generator 5.
The signals from the side rudder controller 12 are inputted to the side rudder controller 12, which adjusts the signals to the forward steering mechanism 9,
The control signal is output to the rear steering mechanism 10 as a control signal. This side rudder control device 12 includes an amplifier 6 that receives signals from a pitch detector 4 and a depth signal generator 5, and generates an inverted signal from the pitch detector 4 [output from an inverter (inverter) 8] and a depth signal. The output from the amplifier 6 is supplied to the forward steering mechanism 9, and the output from the amplifier 7 is supplied to the rear steering mechanism 10. There is.

Next, a case will be described in which the underwater vehicle 1 is guided to the target object A while changing its depth using this method. First, as shown in FIG. 1a, when the underwater vehicle 1 tracks and captures the target A while decreasing the depth, that is, while the underwater vehicle 1 rises, the horizontal rudders 2 and 3 are adjusted respectively. Number 2 in Figure 2
Make it as shown by U, 3U. As a result, the underwater vehicle 1 tracks and captures the target object A while maintaining its attitude almost horizontally, that is, while maintaining the pitch angle at 0°. If the pitch angle takes a value different from 0° during this tracking, the output from the amplifiers 6 and 7 will change, and the angle of attack of the side rudders 2 and 3 will also increase or decrease according to the above change, so underwater navigation is possible. The underwater vehicle 1 returns its attitude to horizontal again, and as a result, as described above, the underwater vehicle 1 tracks and captures the target object A while maintaining its attitude almost horizontally.

In addition, as shown in FIG. 1b, when the underwater vehicle 1 is tracking and capturing the target A while increasing the depth, that is, while the underwater vehicle 1 is descending, the side rudders 2 and 3 are Reference numbers 2D and 3 are shown in Fig. 2, respectively.
Do as shown in D. As a result, in this case as well, the underwater vehicle 1 maintains its attitude almost horizontally.
That is, target object A is tracked and captured while keeping the pitch angle at 0 degrees. Even during this tracking, the pitch angle is
If it takes a value different from 0°, the outputs from the amplifiers 6 and 7 will change, and the angle of attack of the side rudders 2 and 3 will also be increased or decreased in accordance with the above change, so the underwater vehicle 1 will again be able to change its angle of attack. The attitude is returned to horizontal, and in the end, even when the underwater vehicle 1 is sinking and tracking, the underwater vehicle 1 tracks and captures the target object A while maintaining its attitude almost horizontally.

In this way, both when the underwater vehicle 1 tracks and captures the target A while floating, and when the underwater vehicle 1 tracks and captures the target A while descending, the underwater vehicle 1 Since it maintains its attitude almost horizontally, it is possible to reduce the influence of reflected noise from the sea surface W and reflected noise from the seabed B.
As a result, the reflected signal from the target object can be detected accurately, and as a result, the underwater vehicle 1 can be detected from the target object A.
can be guided accurately.

〔Effect of the invention〕

As described in detail above, according to the horizontal attitude type guidance method for an underwater vehicle of the present invention, an underwater vehicle equipped with an acoustic transducer for homing at the front end can be guided toward a target while changing its depth. When guiding the underwater vehicle toward an object, the horizontal rudder provided at the front and rear of the underwater vehicle is used to guide the underwater vehicle toward the target while maintaining the underwater vehicle's attitude almost horizontally. Therefore, there is an advantage that the underwater vehicle can be accurately guided to the target object.

[Brief explanation of the drawing]

Figures 1 to 3 show a horizontal attitude type guidance method for an underwater vehicle as an embodiment of the present invention, and Figures 1a and 1b are schematic diagrams for explaining the guidance method according to the present method. , FIG. 2 is a schematic side view showing an underwater vehicle used in this method, FIG. 3 is a block diagram of an apparatus for carrying out this method, and FIG.
Figure 5 shows a conventional guidance method for an underwater vehicle, Figures 4a and b are schematic diagrams for explaining the conventional guidance method, and Figure 5 shows a diagram of an underwater vehicle used in the conventional method. FIG. 2 is a schematic side view showing a running body. 1... Underwater vehicle, 2, 3... Horizontal rudder, 4... Pitch detector, 5... Depth signal generator, 6, 7...
Amplifier, 8... Inverter, 9... Forward steering mechanism, 10... Rear steering mechanism, 11... Acoustic transducer for homing, 12... Side rudder control device, A...
...Target, B...Seafloor, BP...Beam pattern,
W...Sea surface.

Claims (1)

[Claims] 1. When guiding an underwater vehicle equipped with an acoustic transducer for homing at the front end to a target while changing its depth, horizontal rudders are installed at the front and rear of the underwater vehicle, respectively. A horizontal attitude guidance method for an underwater vehicle, characterized in that the underwater vehicle is guided to the target object while maintaining the attitude of the underwater vehicle substantially horizontally.