JPH08189963A - Apparatus for processing signal of active sonobuoy - Google Patents

Abstract

PURPOSE: To eliminate the necessity for manually switching a display scale and reduce the work load of an operator. CONSTITUTION: A position of a target (Xn , Yn ) is calculated at a target position- calculating part 1 from a distance data Rn to the target and an azimuth data θn. A velocity of the target (v) and a course θc are calculated from the target position history data (Xn , Yn ) and a transmission distance (t) at a velocity- calculating part 2. At a target position-predicting part 3, a position (Xn+1 , Yn+1 ) of the target at the next receiving time is predicted based on the velocity (v), course θc, target position (Xn , Yn ) and transmission distance (t). At a distance- calculating part 4, a distance R to the target is calculated from the target position (Xn+1 , Yn+1 ) and a position data (Xs, Ys) of a sonobuoy. An optimum display scale S is selected from various display scales based on the distance R at a scale-selecting part 5.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an active sonobuoy signal processing apparatus for analyzing underwater acoustic signals received by an active sonobuoy and displaying the analysis data, and particularly to automatic selection of a display scale corresponding to movement of an underwater target. The present invention relates to an active sonobuoy signal processing device having a function.

[0002]

2. Description of the Related Art Conventionally, in this type of active sonobuoy signal processing device, an operator selects a reflection echo (hereinafter referred to as a target echo) from an underwater target from several preset fixed display scales. Analysis data was displayed by selecting an appropriate display scale based on the position. Usually, this type of active sonobuoy signal processing device has a display scale of 0 to A yard and 0 to (1/2) · A yard, as shown in FIGS. 3 (a) and 3 (b). In the figure, the vertical axis represents speed and the horizontal axis represents distance.

Sound waves transmitted from the active sonobuoy are reflected at the underwater target and are received again by the active sonobuoy. At this time, if the underwater target is moving,
The Doppler frequency is added to the reflected sound wave according to the moving speed. The active sonobuoy signal processing device analyzes the underwater acoustic signal received by the active sonobuoy, that is, the analysis of the Doppler frequency added to the reflected sound wave and the calculation of the distance based on the time from transmission to reception, and the target echo. Is displayed according to the display scale together with reflection reverberation from the sea floor (sea bottom reverberation) and ambient noise. FIG. 4 shows an example of the display.

Usually, at the start of operation, in order to monitor a wide range, the operator selects a display scale of 0 to A yards and searches for a target echo. Here, the display scale of 0 to A yard and 0 to (1/2) · A yard have the same length in the distance direction (horizontal axis). This is 0- (1 /
2) ・ The display scale of A yard means that the analysis data can be displayed in a larger scale.

For example, as shown in FIG. 5A, the display scale is 0 to A yards, and the target echo is (3/4).
It is supposed to be displayed near the A yard. In this situation, when the target echo moves to the vicinity of (1/4) · A yard (FIG. 5 (b)), the operator operates the switch to change the display scale from 0 to (1/2) · A yard. (FIG.5 (c)). As a result, the target echo is 0- (1/2)
・ The display will be enlarged near the center of the display scale range of A yard.

The operator discriminates the target echo from the seabed reverberation and ambient noise based on the selected display scale. For this purpose, not only the display but also the listening sound is used, and the target echo is identified based on the shape of the target echo on the display and the tone color of the listening sound. At this time, the operator duplicates other operations such as monitoring other sonobuoy data and inputting target information to the system.

[0007]

However, according to such a conventional active sonobuoy signal processing device,
It is necessary to manually switch the display scale according to the movement of the underwater target at the operator's discretion while searching for the target echo and performing the tracking work while displaying the speed data and the distance data containing the seabed reverberation and ambient noise. However, there is a problem that the workload of the operator is concentrated and leads to the detection of an underwater target due to an erroneous operation or a judgment error due to a high load.

The present invention has been made to solve such a problem, and an object of the present invention is to perform active sonobuoy signal processing capable of reducing the workload of an operator without requiring manual switching of a display scale. To provide a device.

[0009]

In order to achieve such an object, a first invention (an invention according to claim 1) is an underwater target obtained by past reception in the active sonobuoy signal processing device described above. The position of the underwater target at the time of the next reception is estimated based on the distance data up to and the direction data, the distance from the active sonobuoy to the underwater target is calculated from this estimated position of the underwater target, and based on this calculated distance. The optimum display scale for displaying analysis data is selected from a plurality of types of display scales.

The second invention (the invention according to claim 2) is the above-mentioned active sonobuoy signal processing apparatus, wherein the underwater at the time of the next reception is based on the distance data to the underwater target and the azimuth data obtained in the past reception. Estimate the position of the target, calculate the distance from the active sonobuoy to the underwater target from this estimated position of the underwater target, and display multiple types of optimal display scale when displaying analysis data based on this calculated distance The scale is selected, the analysis data is displayed on the selected display scale, and the estimated position of the underwater target at the time of the next reception is superimposed and displayed on the displayed analysis data as a symbol.

A third invention (an invention according to claim 3) is the above-mentioned active sonobuoy signal processing apparatus, wherein the underwater at the next reception is based on the distance data to the underwater target and the azimuth data obtained in the past reception. The position of the target is estimated, the distance from the active sonobuoy to the underwater target (target distance) is calculated from this estimated position of the underwater target, and the above target distance is preset for that display scale from multiple types of display scales. The display scale with the smallest range that falls within the range excluding the dead zone is selected as the optimum display scale for displaying analysis data.

[0012]

Therefore, according to the present invention, in the first invention,
The position of the underwater target at the time of the next reception is estimated from the data obtained in the past reception, and based on the distance from the active sonobuoy to the underwater target calculated from the estimated position of this underwater target, multiple display scales are displayed. The optimum display scale is automatically selected from the list.

In the second invention, the position of the underwater target at the time of the next reception is estimated from the data obtained in the past reception,
Based on the distance from the active sonobuoy to the underwater target calculated from the estimated position of this underwater target, the optimal display scale is automatically selected from multiple display scales, and the analysis data is selected using this selected display scale. Is displayed, and the estimated position of the underwater target is superimposed and displayed as a symbol on the displayed analysis data.

In the third invention, the position of the underwater target at the time of the next reception is estimated from the data obtained in the past reception,
Based on the distance (target distance) from the active sonobuoy to the underwater target calculated from the estimated position of this underwater target,
A display scale having the smallest range in which the target distance falls within a range excluding a predetermined dead zone of the display scale is automatically selected as the optimum display scale from a plurality of types of display scales.

[0015]

EXAMPLES The present invention will now be described in detail based on examples. FIG. 1 is a block diagram of a main part of an active sonobuoy signal processing apparatus showing an embodiment of the present invention. In the figure, 1 is the distance data Rn and direction data θn from the active sonobuoy to the underwater target and the position data of the active sonobuoy (X
s, Ys) as an input, and 2 inputs the position (X _n , Y _n ) of the underwater target calculated by the target position calculating unit 1 and the transmission interval t of the sound wave transmitted from the active sonobuoy. This is a target speed calculation unit.

Reference numeral 3 denotes the moving speed (target speed) v of the underwater target calculated by the target speed calculating unit 2 and the course θc, and the position (X _n , Y _n ) of the underwater target calculated by the target position calculating unit 1 and transmission. The target position estimating unit 4 which receives the interval t inputs the position (X _{n + 1} , Y _{n + 1} ) of the underwater target estimated by the target position estimating unit 3 at the time of the next reception and the position data (Xs) of the active sonobuoy. , Ys) as an input.

Reference numeral 5 is a scale selection unit for inputting the distance R to the underwater target calculated by the target distance calculation unit 4 and analysis data, and 6 is the display scale S selected by the scale selection unit 5.
And the distance R to the underwater target calculated by the target distance calculation unit 4
Is an input of the auxiliary symbol generating section, and 7 is a display section of which the input is the display scale S selected by the scale selecting section 5, the analysis data via the scale selecting section 5, and the auxiliary symbol M from the auxiliary symbol generating section 6. .

Next, the operation of the active sonobuoy signal processing device will be described with the functions of the respective parts.
The target position calculation unit 1 uses the position data (Xs, Ys) of the active sonobuoy as a reference from the distance data Rn and the direction data θn from the active sonobuoy to the underwater target obtained each time the underwater acoustic signal is received. Calculate the position (X _n , Y _n ).

That is, the target position calculation unit 1 calculates the position (X _n , Y _n ) of the underwater target at the time of the n-th reception as X _n = Xs.
+ Rn · sin θn and Y _n = Ys + Rn · cos θn (see FIG. 2A). Then, the calculated position (X _n , Y _n ) of the underwater target at the n-th reception is
The target position history data (X _n , Y _n ) at the time of the second reception is sent to the target speed calculation unit 2.

The target speed calculator 2 calculates the target speed v and the course θc from the target position history data (X _n , Y _n ) from the target position calculator 1 and the transmission interval t. Transmission interval t
Is sufficiently short, the movement of the underwater target can be regarded as a constant-velocity linear motion, so the target position history data (X _n , Y _n ) and (X _n-1 , Y _{n- From 1} ), the target speed v and the course θc are {(X _n −X _n−1 ).
^{_{2 + (Y n -Y n-}} 1) 2} 1/2 / t, θc = tan
^-1 determined by _{{(X n -X n-1} ) / (Y n -Y n-1)} ( see FIG. 2 (b))

The target position estimation unit 3 calculates the target speed v and the course θc from the target speed calculation unit 2 and the position (X _n , Y _n ) of the underwater target from the target position calculation unit 1 and the transmission interval t.
Position of the underwater target at the time of the next reception (n + 1) (X
Guess _{n + 1} , Y _{n + 1} ). Here, the position (X _{n + 1} , Y _{n + 1} ) of the underwater target at the time of the next reception is X _{n + 1} = X _n
+ V · t · sin θc, Y _{n + 1} = Y _n + v · t · cos
It can be obtained by θc (see FIG. 2C).

The target distance calculation unit 4 receives the position (X _{n + 1} , Y _{n + 1} ) of the underwater target and the position data (Xs, Ys) of the active sonobuoy estimated by the target position estimation unit 3 during the next reception. Then, the distance R from the active sonobuoy to the underwater target is calculated (see FIG. 2D). _{R = {(Xs-X n} + 1) 2 + (Ys-Y n + 1) 2} 1/2

Based on the distance R to the underwater target calculated by the target distance calculation unit 4, the scale selection unit 5 selects an optimum display scale S from several types of display scales prepared in advance. The selection of the display scale S in the scale selection unit 5 is based on the fact that the target echo is displayed in the largest scale in the scale so that the target echo can be seen most easily. That is, of the display scales of several types, the display scale with the smallest range among those exceeding the distance R is selected as the optimum display scale S. However,
In this case, the target echo is located near the maximum display value (full scale) in the range of the display scale, which may cause a problem such as loss of detection.

Therefore, in the present embodiment, by setting a distance corresponding to the general speed of the underwater target and the transmission interval as a dead zone in advance, when the dead zone includes the distance R to the underwater target, the display is performed. The scale is not automatically switched. That is, in the scale selection unit 5, the optimum display scale S is the smallest display scale in which the distance R to the underwater target falls within a range excluding a predetermined dead zone of the display scale from among several types of display scales. I'm trying to choose. This makes it possible to always display the target echo near the center of the range of the display scale.
Tracking becomes easy.

The display unit 7 displays the analysis data on the display scale S from the scale selection unit 5. The auxiliary symbol generating unit 6 displays the display scale S selected by the scale selecting unit 5.
And the estimated position r of the underwater target on the display is calculated based on the distance R to the underwater target calculated by the target distance calculation unit 4. This is determined by r = (D / S) .R (dots), where D is the number of dots in the horizontal axis direction for displaying the display scale S on the display screen, S is the maximum display distance, and R is the target distance.
Then, the auxiliary symbol generation unit 6 displays the auxiliary symbol M at the estimated position of the underwater target at the screen position of r dots from the dot of the distance “0” on the display scale S, that is, the analysis displayed by the display unit 7. The auxiliary symbol M is output to the display unit 7 so that the auxiliary symbol M at the estimated position of the underwater target is displayed on the data.

The display of the auxiliary symbol M allows the operator to know the appearance position of the target echo and pay attention only to the vicinity thereof. This can reduce the workload of the operator when distinguishing the target echo from the sea bottom reverberation and ambient noise, and in combination with the automatic switching of the display scale, the workload of the operator can be significantly reduced. Becomes

In the present embodiment, the filter processing for estimating the target position and the like such as the Kalman filter is not added, but by adding this, it is possible to improve the error at the time of measurement, and the effect of the present invention. Can be increased.

[0028]

As is apparent from the above description, according to the present invention, in the first invention, the position of the underwater target at the time of the next reception is estimated from the data obtained in the past reception, and this underwater target is estimated. Based on the distance from the active sonobuoy calculated from the estimated position of to the underwater target, the optimum display scale will be automatically selected from multiple types of display scales, eliminating the need to manually switch the display scales. The workload of the operator can be reduced.

In the second invention, the position of the underwater target at the time of the next reception is estimated from the data obtained in the past reception,
Based on the distance from the active sonobuoy to the underwater target calculated from the estimated position of this underwater target, the optimal display scale is automatically selected from multiple display scales, and the analysis data is selected using this selected display scale. Is displayed, and the estimated position of the underwater target is displayed as a symbol on the displayed analysis data.
In addition to the effect of the first aspect of the invention, it is possible to reduce the workload of the operator when distinguishing the target echo from the seabed reverberation and ambient noise.

In the third invention, the position of the underwater target at the time of the next reception is estimated from the data obtained in the past reception,
Based on the distance (target distance) from the active sonobuoy to the underwater target calculated from the estimated position of this underwater target,
The display scale with the smallest range in which the target distance falls within the range excluding the predetermined dead zone of the display scale is automatically selected as the optimum display scale from the plurality of types of display scales. In addition to the effect of the first aspect of the invention, it is possible to always display the target echo near the center of the range of the display scale, and it is possible to easily search for and track the target echo.

[Brief description of drawings]

FIG. 1 is a block diagram of a main part of an active sonobuoy signal processing device showing an embodiment of the present invention.

FIG. 2 is a diagram for explaining the operation of this active sonobuoy signal processing device.

FIG. 3 is a diagram illustrating a display scale.

FIG. 4 is a diagram showing a display example of analysis data.

FIG. 5 is a diagram illustrating manual switching of a display scale in a conventional active sonobuoy signal processing device.

[Explanation of symbols]

1 ... Target position calculation unit, 2 ... Target speed calculation unit, 3 ... Target position estimation unit, 4 ... Target distance calculation unit, 5 ... Scale selection unit,
6 ... Auxiliary symbol generating section, 7 ... Display section.

Claims (3)

[Claims] 1. An active sonobuoy signal processing apparatus for analyzing an underwater acoustic signal received by an active sonobuoy and displaying the analysis data, based on distance data and direction data to an underwater target obtained by past reception. Target position estimation means for estimating the position of the underwater target at the next reception, target distance calculation means for calculating the distance from the active sonobuoy to the underwater target from the position of the underwater target estimated by this target position estimation means, and this target Active sonobuoy signal processing, comprising scale selecting means for selecting an optimum display scale when displaying the analysis data based on the distance calculated by the distance calculating means from a plurality of types of display scales. apparatus. 2. An active sonobuoy signal processing apparatus for analyzing an underwater acoustic signal received by an active sonobuoy and displaying the analysis data, wherein the following data are obtained based on distance data and direction data to an underwater target obtained by past reception. Target position estimating means for estimating the position of the underwater target at the time of receiving, and target distance calculating means for calculating the distance from the active sonobuoy to the underwater target from the position of the underwater target estimated by the target position estimating means, Scale selection means for selecting the optimum display scale when displaying the analysis data based on the distance calculated by the distance calculation means from a plurality of kinds of display scales, and the display scale selected by this scale selection means. The display means for displaying the analysis data and the analysis data displayed by this display means Active sonobuoy signal processing apparatus characterized by comprising a means for superimposing display the estimated position of the underwater target during signal as a symbol. 3. An active sonobuoy signal processing apparatus for analyzing an underwater acoustic signal received by an active sonobuoy and displaying the analysis data, based on distance data and heading data to an underwater target obtained by past reception. A target position estimating means for estimating the position of the underwater target at the next reception, and a target distance calculating means for calculating the distance from the active sonobuoy to the underwater target from the position of the underwater target estimated by the target position estimating means, Of the display scales of various types, the display scale having the smallest range in which the distance calculated by the target distance calculating means falls within a range excluding a predetermined dead zone of the display scale is optimum for displaying the analysis data. Active sonobuoy communication characterized by having a scale selection means for selecting as a large display scale. No. processor.