JPH08220217A - Sonar device and oscillation correcting method of received beam azimuth - Google Patents

Abstract

PURPOSE: To correct a directional error in a horizontal directional received beam azimuth generated by oscillation of a ship in a received beam azimuth of a sonar device mounted on the ship. CONSTITUTION: A received beam true azimuth calculating circuit 4 calculates a received beam center true azimuth θ'n on the basis of a course Cqo of a ship. An echo sound receiver surface inclined azimuth calculating circuit 5 calculates an inclined true azimuth ϕ' of an echo sound receiver surface on the basis of the course Cqo of the ship, a rolling angle Zo and a pitching angle Eio. An echo sound receiver surface inclination calculating circuit 6 calculates an inclination α of an echo sound receiver surface on the basis of the rolling angle Zo and the pitching angle Eio. A received beam azimuth oscillation correcting circuit 7 corrects a directional error in a horizontal directional received beam generated by oscillation of the ship to respective ones of plural received beam central true azimuths θ'n on the basis of the received beam central true azimuth θ'n, the inclined true azimuth ϕ' of the echo sound receiver surface and the inclination α of the echo sound receiver surface, and calculates a received beam central true azimuth θ"n whose oscillation is corrected.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a sonar device mounted on a ship and a method for compensating the fluctuation of the receiving beam direction thereof, and more particularly to a method of compensating the fluctuation of the receiving beam direction with respect to the course, rolling angle and pitching angle of the ship.

[0002]

2. Description of the Related Art Conventionally, as a method for compensating the fluctuation of the receiving beam direction in a sonar device of this type, a method for compensating the fluctuation by controlling the angle of the receiving beam caused by the fluctuation of the ship so as to be 0 degree has been adopted. Was there.

An example of a sonar device which realizes a conventional method for correcting the fluctuation of the receiving beam azimuth is described in Japanese Utility Model Laid-Open No. 63-124676, entitled "Sonar Transducer". The sonar transmitter / receiver described in this publication is based on the motion degree of the ship detected by the stabilized gyrocompass, and controls the phase of the transmitted / received wave of the sonar longitudinal element in a direction to cancel the motion angle of the ship. It is equipped with a control device. In other words, in this sonar transmitter / receiver, the phase controller controls the phase of the transmitting / receiving beam so that the beam center of the transmitting / receiving beam is horizontal with respect to the vertical swaying angle detected by the stabilized gyrocompass. To control. As a result, even if the ship is shaken, the beam center of the transmission / reception beam can be controlled so that the angle of inclination is always 0 degrees.

[0004]

This conventional sonar transmitter / receiver does not consider the correction of the horizontal azimuth deviation of the beam center azimuth of the reception beam when the ship is shaken. Therefore, when the horizontal direction of the receiving beam center differs from the horizontal direction of the normal vector of the inclined receiver surface due to the inclination of the receiver surface, the conventional sonar transducer Then, there is a problem that the horizontal receiving beam center direction is different from the apparent receiving beam center direction and the actual receiving beam center direction.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a sonar device and a method for compensating the fluctuation of the received beam azimuth, which can correct the direction error of the reception beam azimuth in the horizontal direction caused by the motion of the ship.

[0006]

In order to solve the above-mentioned problems, a sonar device according to the present invention is a sonar device which is mounted on a ship and has a cylindrical wave receiver array composed of a plurality of wave receivers. , The course C _{qo of} the ship, the rolling angle Z _o , and the pitching angle E _io are input, and a shake compensating device for compensating the fluctuation of the receiving beam bearing with respect to the motion of the ship is provided. course C _qo and horizontal reception beam central azimuth theta _n and the reception beam center true azimuth calculating circuit for calculating a reception beam center true bearing [theta] & apos _n horizontal direction with respect to the reference azimuth from ship heading C _qo, rolling angle Z a receiver plane tilt azimuth calculation circuit that calculates the tilt true azimuth φ ′ of the receiver surface of the cylindrical receiver array from the _o and the pitching angle E _{io with} respect to the reference azimuth, and the rolling angle Z _o and the pitching angle E _io . From horizontal A wave receiver surface inclination angle calculating circuit for calculating an inclination angle α of the receivers face of al, the reception beam center true bearing [theta] & apos _n, the inclination angle of the inclined true bearing φ'and receivers surface of the receivers face and a receive beam azimuth sway correction circuit that calculates a horizontal receive beam center true azimuth θ ″ _n that is sway-corrected with respect to the sway of the ship from α.

Further, the method for correcting the fluctuation of the receiving beam direction according to the present invention is a sonar device mounted on a ship and having a cylindrical receiver array composed of a plurality of receivers, in which the course C _qo of the ship and rolling A method of inputting an angle Z _o and a pitching angle E _io to correct the fluctuation of the reception beam direction with respect to the fluctuation of the ship, which is a reference from the course C _{qo of} the ship and the reception beam center direction θ _{n in the} horizontal direction. The true azimuth θ ′ _n of the reception beam center in the horizontal direction with respect to the azimuth is calculated, and the inclination azimuth φ of the wave-receiving surface of the cylindrical wave-receiver array is calculated from the rolling angle Z _o and the pitching angle E _io. The inclination true azimuth φ ′ of the wave receiver surface with respect to the reference azimuth is calculated from the inclination direction φ of the wave surface and the course C _{qo of the} ship, and the wave _reception surface from the horizontal plane is calculated from the rolling angle Z _o and the pitching angle E _io. Inclination angle α
Calculating a reception beam center true bearing [theta] & apos _n, inclined true bearing φ'of receivers plane, and the horizontal direction of the reception beam center from the inclination angle α of the receivers face is upset corrected for upset of the ship The step of calculating the true orientation θ ″ _n is included.

[0008]

The present invention will be described in detail with reference to the drawings.

Referring to FIG. 1, a sonar apparatus according to an embodiment of the present invention comprises a cylindrical wave receiver array 1, a receiving beam forming circuit 2, a stabilized gyro compass 3, and
It has a reception beam true azimuth calculation circuit 4, a receiver plane tilt azimuth calculation circuit 5, a receiver plane tilt angle calculation circuit 6, a reception beam azimuth fluctuation correction circuit 7, and a reception beam azimuth imparting circuit 8. ing.

The cylindrical wave receiver array 1 comprises a plurality of wave receivers (not shown), each of which outputs a reception signal R. The reception beam forming circuit 2 receives a reception signal R from a plurality of wave receivers forming the cylindrical wave receiver array 1. The reception beam forming circuit 2 performs phasing processing or the like on the reception signal R, and receives the reception beam signal B in a plurality of horizontal directions.
To form.

The stabilized gyro compass 3 _detects the course C _{qo of} the ship, the rolling angle Z _o and the pitching angle E _io and outputs them. As will be described later, the reception beam true azimuth calculation circuit 4 receives a plurality of reception beam signals B formed by the reception beam forming circuit 2 based on the course C _qo of the ship input from the stabilized gyro compass 3.
From the horizontal azimuth, the reception beam center true azimuth θ ′ _n with reference to the reference azimuth (true north in this embodiment) is calculated. Here, the horizontal direction of the reception beam signal B is known in advance when the cylindrical receiver array 1 is designed, and is stored in the memory (not shown) of the reception beam true direction calculation circuit 4.
It is stored in. The receiver surface tilt azimuth calculation circuit 5
As will be described later, based on the course C _qo , rolling angle Z _o , and pitching angle E _io of the ship input from the stabilized gyrocompass 3, the wave-receiving surface of the cylindrical wave-receiver array 1 is moved by the motion of the ship. With respect to the resulting inclination from the horizontal plane, the inclination true azimuth φ ′ of the receiver surface is calculated with reference to the reference azimuth when the normal vector of the inclined plane is projected on the horizontal plane. As will be described later, the wave-receiver surface tilt angle calculation circuit 6 calculates the wave-receiver surface of the cylindrical wave-receiver array 1 based on the rolling angle Z _o and the pitching angle E _io input from the stabilized gyro compass 3. Calculates the inclination angle α of the receiver surface from the horizontal plane caused by the motion of the ship.

As will be described later, the reception beam azimuth fluctuation correction circuit 7 is based on the reception beam center true azimuth θ ′ _n , the inclination true azimuth φ ′ of the wave receiver surface, and the inclination angle α of the wave reception surface.
For each of the plurality of reception beam center true azimuths θ ′ _n , the azimuth error of the horizontal reception beam caused by the motion of the ship is corrected, and the shake-corrected reception beam center true azimuth θ ″ _{n is} corrected.
To calculate.

The combination of the receive beam true azimuth calculation circuit 4, the receiver plane tilt azimuth calculation circuit 5, the receiver plane tilt angle calculation circuit 6, and the receive beam azimuth fluctuation correction circuit 7 is used for receiving the sway of a ship. A shake compensator for compensating the fluctuation of the beam direction is constructed.

The receive beam azimuth imparting circuit 8 receives the receive beam signal B for each azimuth obtained from the receive beam forming circuit 2 and is phased into a plurality of horizontal azimuths. The obtained shake-corrected received beam center true azimuth θ ″ _n is given.

Next, the operation of this embodiment will be described in detail with reference to FIGS. 1, 2 and 3.

In the reception beam forming circuit 2, the reception signals R input from the plurality of wave receivers constituting the cylindrical wave receiver array 1 are output from the cylindrical wave receiver array 1 with reference to the bow direction θ _b . Processing such as phasing is performed so that the reception beam signal B is formed with the reception beam center direction θ _n (n = 1, 2, ..., M) on the horizontal plane defined around the center as the beam center direction.

As will be described later, the reception beam true azimuth calculation circuit 4 uses the true north θ _dn as a reference with respect to the reception beam center azimuth θ _n , based on the course C _qo of the ship input from the stabilized gyro compass 3. Receive beam center true direction θ '
Calculate _n (n = 1, 2, ..., M).

In the receiver surface inclination azimuth calculation circuit 5, as will be described later, the course C _{qo of} the ship, the rolling angle Z _o and the pitching angle E input from the stabilized gyrocompass 3.
Based on _io , when the wave-receiving surface of the cylindrical wave-receiving array 1 is tilted due to the motion of the ship, the horizontal component of the normal vector of the plane of the tilted wave-receiving surface with reference to the bow direction θ _b The azimuth is calculated as the inclination azimuth φ of the receiving surface, and then the true north θ
Calculate the true azimuth φ'of the receiver surface with _dn as the reference.

As will be described later, the receiver surface tilt angle calculation circuit 6 receives the cylindrical receiver array 1 based on the rolling angle Z _o and the pitching angle E _io input from the stabilized gyrocompass 3. When the wavefront is inclined due to the motion of the ship, the inclination angle α of the wavefront is calculated as the angle (acute angle) formed by the inclined plane of the wavefront and the horizontal plane P _h .

[0020] The receiving beam azimuth upset correction circuit 7, as described below, a reception beam center true bearing [theta] & apos _n inputted from the reception beam true azimuth calculating circuit 4 is input from the receiving transducer surface inclination azimuth calculating circuit 5 The true azimuth φ ′ of the receiver surface
Based on the inclination angle α of the wave-receiving surface input from the wave-receiving surface inclination angle calculation circuit 6, the shake-corrected reception beam center true direction θ ″ _n (n = 1, 2, ..., M) is calculated. calculate.

The operation of the receive beam azimuth fluctuation correction circuit 7 will be described in detail with reference to FIG. When the inclination angle of the wave-receiving surface is 0 degree, the plane P ₀ viewed from directly above the wave-receiving surface is compared with the plane P ₀ when the inclination angle of the wave-receiving surface is α degrees. The plane P _α seen is an ellipse. For the received beam center true bearing [theta] & apos _n when the angle of the receivers surface of 0 degree, the center orientation of the receive beam when the inclination angle of the receivers surface α of the received beam center true bearing θ ′ _N and the wave-receiver surface are tilted at an angle of 0 degrees, the wave-receiver surface is lowered from the intersection point I ₀ on the circumference of the plane P ₀ viewed from directly above to the tilt-rotation axis A _r of the wave-receiver surface. When the inclination angle between the vertical line and the wave receiver surface is α degrees, the azimuth connects the intersection point I _α of the plane P _α when the wave receiver surface is viewed from directly above and the center of the cylindrical wave receiver array 1. . That is, this azimuth is
The sway-corrected receive beam center true azimuth is θ ″ _n .

In the receive beam azimuth imparting circuit 8, the receive beam azimuth fluctuation compensating circuit 7 responds to the receive beam signal b input from the receive beam forming circuit 2 for each azimuth phased into a plurality of horizontal azimuths. The input shake-corrected received beam center true direction θ ″ _n is given.

The operation of the motion compensation device 9 of the sonar device according to the present embodiment will be described with reference to FIG. Here, as shown in FIG. 5, the bow direction (azimuth) is the x-axis (+
Side), the y-axis orthogonal to the x-axis on the same plane, and the vertical direction from the origin are set as the z-axis.

The motion compensating device 9 includes the course C _qo (0 to 360 degrees) of the ship from the stabilized gyro compass 3 and the rolling Z _o (+ on the negative side of the y axis with respect to the z axis and − on the positive side of the y axis).
And a pitching angle E _io (+ on the positive side of the z axis with respect to the x axis and − on the negative side of the z axis) are input (step S).
1). Upset correcting unit 9, the ship heading C _qo and the reception beam central azimuth theta _n, in accordance with the first calculation formula is expressed by Equation 9 below, calculates a reception beam center true bearing [theta] & apos _n (step S2 ).

[0025]

[Equation 9] The motion compensator 9 has a rolling Z _o and a pitching angle E _io.
From the above, the inclination azimuth φ of the wave-receiving surface is calculated according to the second calculation formula represented by the following mathematical formula 10 (step S
3).

[0026]

[Equation 10] The wobbling correction device 9 determines that the normal vector of the plane of the receiver surface is x.
The quadrant on the -y plane is divided into cases (steps S4 to S6), and the inclination true azimuth φ'of the receiver surface in each case is calculated (steps S7 to S10).
More specifically, in step S4, cosZ _o · sinE
_It is determined that _io > 0, and if YES, to step S5, NO.
If so, move to step S6. In step S5, sinZ _o >
If 0 is determined, the process proceeds to step S7 if YES and to step S8 if NO. Similarly, in step S6, sinZ
_o > 0 is judged, and if YES, to step S9, NO.
Then, the process proceeds to step S10. In steps S7 to S10, the inclination true azimuth φ ′ of the wave receiver surface is calculated from the inclination azimuth φ of the wave receiver surface and the course C _{qo of the} ship. That is, φ ′ = C _qo − | φ | in step S7, φ ′ = C _qo + | φ | in step S8, and φ ′ ₌₌ in step S9.
C _qo + 180− | φ |, and φ ′ in step S10.
= C _qo +180+ | φ |, the inclination true direction φ ′ of the receiver surface is calculated.

The motion compensator 9 calculates the inclination angle α of the wave receiver surface from the rolling Z _o and the pitching angle E _io according to the third calculation formula expressed by the following formula 11 (step S11). .

[0028]

[Equation 11] The motion compensator 9 uses the received beam center true azimuth θ ′ _n , the wave receiver surface tilt angle α, and the wave receiver surface tilt true direction φ ′.
The shake-corrected reception beam center true azimuth θ ″ _n is calculated according to the fourth calculation formula represented by the following formula 12 (step S12).

[0029]

(Equation 12) Finally, the motion compensator 9 outputs the motion-corrected received beam center true direction θ ″ _n (step S13).

Therefore, when the ship is shaken, the shake-corrected receive beam center true direction θ ″ _n can be used to correct the receive beam direction error that occurs in the horizontal direction.

The present invention is not limited to the above-mentioned embodiments, and it goes without saying that various modifications can be made without departing from the gist of the present invention.

[0032]

As described above, according to the present invention, in a sonar device mounted on a ship and having a cylindrical receiver array, the course, rolling angle and pitching angle of the ship are input and the course of the ship is horizontal. Means for calculating a horizontal receive beam center true azimuth with respect to a reference azimuth (for example, true north) from a directional receive beam center azimuth, and a cylindrical receiver array for the reference azimuth from a ship course, rolling angle, and pitching angle. A means for calculating the inclination true direction of the wave-receiving surface, a means for calculating the inclination angle of the wave-receiving surface from the horizontal plane from the rolling angle and the pitching angle, a true direction of the receiving beam center, and an inclination true of the wave-receiving surface. The horizontal direction when the ship is shaken because it has means for calculating the true direction of the received beam center in the horizontal direction, which is shake-corrected from the bearing and the inclination angle of the receiver surface. It has the effect of correcting the direction error of the resulting receive beam.

[Brief description of drawings]

FIG. 1 is a block diagram showing a sonar device according to an embodiment of the present invention.

FIG. 2 is a schematic diagram for explaining the operation of the receive beam forming circuit shown in FIG.

FIG. 3 is a schematic diagram for explaining the operation of the receive beam azimuth fluctuation correction circuit shown in FIG.

FIG. 4 is a flowchart for explaining the operation of the motion compensation device shown in FIG.

FIG. 5 is a diagram for explaining the calculation formula shown in FIG.

[Explanation of symbols]

 1 Cylindrical receiver array 2 Received beam forming circuit 3 Stabilized gyro compass 4 Received beam true azimuth calculation circuit 5 Receiver plane tilt azimuth calculation circuit 6 Receiver plane tilt angle calculation circuit 7 Received beam azimuth correction circuit 8 Received beam azimuth imparting circuit 9 Motion correction device

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Mamoru Suzuki 2-8-11 Kurihama, Yokosuka City, Kanagawa Prefecture (72) Inventor Satoshi Kimura 5-7-1, Shiba, Minato-ku, Tokyo NEC Corporation

Claims (14)

[Claims] 1. A sonar device mounted on a ship and having a cylindrical receiver array composed of a plurality of receivers, comprising: a ship course (C _qo ), a rolling angle (Z _o ), and a pitching angle ( E _io ) is input, and a shake compensator for correcting the fluctuation of the reception beam azimuth with respect to the fluctuation of the ship is provided,
The upset correction device, receiving the beam center for calculating the ship course (C _qo) and horizontal direction of the reception beam central azimuth (theta _n) horizontally with respect to a reference orientation from the reception beam center true bearing ([theta] & apos _n) A true azimuth calculation circuit (4), the receiver of the cylindrical receiver array for the reference azimuth from the course (C _qo ), the rolling angle (Z _o ) and the pitching angle (E _io ) of the ship. Inclination of surface True azimuth (φ
′), A receiver surface tilt azimuth calculation circuit (5), the rolling angle (Z _o ) and the pitching angle (E _io )
And a receiver surface inclination angle calculation circuit (6) for calculating the inclination angle (α) of the receiver surface from the horizontal plane, the reception beam center true azimuth (θ ′ _n ), and the receiver surface Inclination true direction (φ ') and inclination angle (α) of the wave receiver surface
And a receiving beam azimuth sway correction circuit (7) for calculating a true receiving beam center true azimuth (θ ″ _n ) in which the sway is corrected for the sway of the ship. 2. The sonar device according to claim 1, wherein the course (C _qo ), the rolling angle (Z _o ) and the pitching angle (E _io ) of the ship are input from a stabilized gyro compass (3). 3. The sonar device according to claim 1, wherein the reference azimuth is true north. 4. A reception beam signal (B) having the reception signal (R) received by the cylindrical receiver array (1) with the horizontal reception beam center direction (θ _n ) as the beam center direction. ), And a reception beam azimuth imparting circuit for imparting the shake-corrected horizontal reception beam center true azimuth (θ ″ _n ) to the reception beam signal (B). Claim 1 provided with (8).
The sonar device described. 5. The reception beam center true azimuth calculation circuit (4) calculates the reception beam center true azimuth (θ ′ _n ) according to the following mathematical formula 1. The sonar device according to claim 1. 6. The receiver surface inclination azimuth calculation circuit (5) calculates the inclination azimuth (φ) of the receiver surface from the rolling angle (Z _o ) and the pitching angle (E _io ) by the following mathematical formula 2. Calculated according to 2. A tilt true azimuth (φ ′) of the wave receiver surface with reference to the reference azimuth is calculated from the tilt azimuth (φ) of the wave receiver surface and the course (C _qo ) of the ship. Sonar device. 7. The wave-receiving surface tilt angle calculation circuit (6) calculates the wave-receiving surface tilt angle (α) according to the following mathematical formula 3. The sonar device according to claim 1. 8. The reception beam azimuth fluctuation correction circuit (7)
Calculates the shake-corrected horizontal reception beam center true azimuth (θ ″ _n ) according to Equation 4 below. The sonar device according to claim 1. 9. A sonar device mounted on a ship and having a cylindrical wave receiver array (1) composed of a plurality of wave receivers, comprising: a ship course (C _qo ), a rolling angle (Z _o ),
And a pitching angle (E _io ) are input to correct the fluctuation of the receiving beam direction with respect to the fluctuation of the ship, which is the course (C _qo ) of the ship and the horizontal receiving beam center direction (θ _n ) And a horizontal reception beam center true azimuth (θ ′ _n ) with respect to the reference azimuth according to the first calculation formula, and the rolling angle (Z _o ) and the pitching angle (E _io ) are calculated.
And the inclination direction (φ) of the wave-receiving surface of the cylindrical wave-receiver array (1) is calculated according to the second calculation formula, and the inclination direction (φ) of the wave-receiving surface and the course of the ship are calculated. (C _qo ) and the inclination true direction (φ ′) of the receiver surface with respect to the reference direction
Then, the tilt angle α of the wave receiver surface from the horizontal plane is calculated from the rolling angle (Z _o ) and the pitching angle (E _io ) according to a third calculation formula. ′ _N ), the inclination true azimuth of the wave receiver surface (φ ′), and the true reception beam center true azimuth in the horizontal direction which is shake-corrected from the inclination of the wave receiver surface (α) with respect to the sway of the ship. A fluctuation correction method of a reception beam azimuth including a step of calculating (θ ″ _n ). 10. The fluctuation correction method for the reception beam azimuth according to claim 9, wherein the reference azimuth is true north. 11. The first calculation formula is represented by the following formula 5: The method for correcting the fluctuation of the reception beam azimuth according to claim 9. 12. The second calculation formula is represented by the following formula 6. The method for correcting the fluctuation of the reception beam azimuth according to claim 9. 13. The third calculation formula is expressed by the following formula 7. The method for correcting the fluctuation of the reception beam azimuth according to claim 9. 14. The fourth calculation formula is represented by the following formula 8. The method for correcting the fluctuation of the reception beam azimuth according to claim 9.