JPS60202372A - Navigation of underwater sailing body - Google Patents

Abstract

PURPOSE:To secure the tracking and capture by forecasting the meeting point permitting the capture of a moving target object in a homing range at a high- speed moving stage of an underwater sailing body to track the target at a high speed to the forecast meeting point without homing. CONSTITUTION:As the homing range is long at the low-speed searching stage of an underwater sailing body 1, a moving target object 2 is detected far with a transmitter 3 and a receiver 4 thereof 1 and the distance, bearing of the target object 2 and a Doppler signal C2 are sent to a control panel 5, which receives changes in the signal C2 with time, absolute coordinates (x0, y0, z0) and the velocity VG of the sailing body 1 from an inertial guidance device 7 and changes of direction with time to obtain the velocity VT, mark angle At and distance Ro of the target object 2. Then, the control panel 5 forecast the meeting point of capturing the moving target object 2 at the center of the homing range at a tracking velocity from the velocity VT, the mark angle At and the distance Ro of the target object 2 and the velocity VG of the underwater sailing body 1 and the distance RL in the half of the homing range at the tracking velocity to determine an anticipated angle Aa and arrival time Ta when the meeting point is reached by computation according to a specified formula.

Description

[Detailed description of the invention] The present invention relates to a navigation method for an underwater vehicle.

In the conventional navigation method for underwater vehicles, as shown in Fig. 1(a) (plan view) and Fig. 1(b) [elevation view 1 corresponding to Fig. 1(a)], The medium-sized vehicle 1 landed on the water [see reference numeral 1a in Fig. 1 (11), reference numeral a in Fig. 1 (b) 1]
At the same time, infiltrate to the search depth [see reference numeral 1 in FIG. 1(b), search depth Z].

The search for the moving target 2 is started at . [Figure 1 (b
)] Note that the symbols X, Y, and Z in the figure each indicate a coordinate axis.

The search is performed by emitting sound waves into the water and receiving echoes from the moving target 2.

When the underwater vehicle 1 receives the echo of the moving target 2 [
Reference numerals 1b and 2b in Fig. 1(a) 1, underwater vehicle 1
is steered in the direction in which the echo arrives and begins tracking. [See symbol d in FIG. 1(b)] However, as the underwater vehicle 1 increases its speed, its own noise increases accordingly, and the distance from the moving target 2 from which echoes can be received (hereinafter; ``homing range'') tends to decrease.

Therefore, in the search stage, it is necessary to move as slow as possible in order to secure the homing range.

Furthermore, in the tracking stage after detecting the moving target 2, the underwater vehicle 1 needs to increase its speed to a high speed in order to reliably capture the moving target 2 that is avoiding at high speed.

However, when traveling at high speed, the homing range decreases, so the speed must be increased to the extent that the homing range can be secured.

For a high-speed moving target 2, even if you track the moving target 2 while receiving echoes from the moving target 2 at a speed that allows you to secure a homing range, there is a risk that you will be swept away by the moving target 2. [Symbols (lc, 2c) in FIG.

(ld, 2d) = (1e, 2e) Reference 1 The present invention is an attempt to solve such problems. An object of the present invention is to provide a navigation method for an underwater vehicle that can reliably track and capture moving targets.

Therefore, the navigation method of the underwater vehicle of the present invention is based on the information on the course and speed of the moving target obtained by the transducer during the low-speed search stage of the underwater vehicle. The present invention is characterized in that a meeting point at which the moving target can be captured is predicted in the homing range during the high-speed movement stage, and the moving target is tracked at high speed without homing to this predicted meeting point.

Embodiments of the present invention will be described below with reference to the drawings. FIG. 2 is a block diagram of an underwater vehicle to which the navigation method of the underwater vehicle of the present invention is applied, and FIG. 3 is a block diagram of the underwater vehicle of the present invention. FIG. 4 is an explanatory diagram showing a navigation method of an underwater vehicle as a first embodiment, and FIG. 4 is an explanatory diagram showing a navigation method of an underwater vehicle as a second embodiment of the present invention.

As shown in FIG. 2, the underwater vehicle 1 to which each embodiment is applied is provided with a transducer 3 that emits a sound wave A1 into the water and receives the echo A2, and also: A transceiver 4 that transmits and receives electrical signals Bl and B2 to and from this transducer 3
is provided.

Further, a control panel 5 is provided, and this control panel 5 sends a control signal C1 such as on/off of homing to the transmitter/receiver 4, receives the distance, direction, and Doppler signal C2 of the moving target 2, and receives the predicted meeting point. A steering signal D1 is sent to the steering device 6 so as to direct the vehicle to the vehicle.

Furthermore, the absolute coordinates (X) of the underwater vehicle 1 are sent to the control panel 5.

An inertial guidance device 7 is provided that detects and sends information such as y, z), speed, and direction (course).

As shown in Figure Pt&3, in the fjS1 embodiment, the homing range is long during the low-speed search stage of the underwater vehicle 1,
detects the moving target 2 at a distance (see the solid line in FIG. 3), and sends the distance, direction, and Doppler signal C2 of the moving target 2 to the control panel 5.

The control panel 5 records the rE distance, direction, and time changes of the Doppler signal C2 from the transmitter/receiver 4, and the absolute coordinates (Xo, Yo, Zo) and speed of the underwater vehicle 1 from the inertial guidance device 7. , and the time change in direction, the speed (1) of the moving object 2, the target angle At, and the distance Ro to the moving object 2 are obtained.

Next, the control panel 5 determines the speed vTl angle A of the moving target 2.
t, the distance Ro, and the speed ■ of the underwater vehicle 1. , a distance R+ that is half the homing range at the tracking speed, predicts the point at which the moving sight object 2 is caught in the center of the homing range at the tracking speed (hereinafter referred to as the "expected meeting point"), and at this expected meeting point. The expected angle Aa to be reached and the arrival time Ta are calculated by the following equation.

However, P=vT/vG Q=RL/RO 8=1+(P-Q)2+2·P-Q-cos(At).

The control panel 5 calculates the expected angle Aa that is calculated in the above formulas 1 and 2.
+ A steering signal D1 based on the arrival time Ta is sent to the steering device 6 to guide the underwater vehicle 1 to the expected meeting point. (Refer to numerals 1' and 2' in Fig. 3) Furthermore, when the underwater vehicle 1 moves at high speed to the expected meeting point, the control panel 5 sends a homing stop signal C1 to the transceiver 4 to stop homing. 6 After reaching the expected meeting point, the underwater vehicle 1 starts homing again, searches for the moving target 2 at the same tracking speed, and after detection, tracks the moving target 2 at high speed and captures it. Do the following.

As shown in FIG. 4, in the second embodiment, in the low-speed search stage of the underwater vehicle 1, since the homing range is long, the transducer 3 and the transceiver 4 of the underwater vehicle 1 can detect the moving target. 2 at a distance (see the solid line in FIG. 4), the distance and direction of the moving target 2 and the Doppler signal C2 are sent to the control panel 5.

The control panel 5 receives the time change of the separation, direction, and Doppler signal C2 from the transceiver 4, and the absolute, 1m (XotYo, Zo)y speed V (in one direction) of the underwater vehicle 1 from the inertial guidance device 7. Based on the time change, the speed of the moving target 2 (7), the target angle At, and the distance Ro to the moving target 2 are obtained.

Next, the control panel 5 determines the speed ■T and target angle A of the moving object 2.
t, the distance Ro, the speed Vo of the underwater vehicle 1, and the blind navigation time (fixed time) Tb, calculate the expected angle Ab for moving at high speed to the predicted point (intermediate point leading to the predicted meeting point) using the following formula. Calculate by

Ab=S in-'[1VT-Tb/5) sin(A
t)] ...(3) However, 5=Roz+(■T-Tb)2-2・Ro・■T-Tb
-cos(At) The control panel 5 sends a steering signal D1 to the steering device 6 based on the expected angle Ab and the fixed blind navigation time Tb calculated by the third formula, and sends the steering signal D1 to the steering device 6. 1 to the predicted point. (See symbols 1" and 2" in FIG. 4) Furthermore, when the underwater vehicle 1 moves at high speed to a predicted point, the control panel 5 sends a homing stop signal c1 to the transceiver 4 to stop rehoming. .

When the underwater vehicle 1 reaches the predicted point (intermediate point), it decelerates to a low search speed, starts homing again, and tries to detect the moving target 2 again. "reference)
, the distance and direction of the moving target 2, and the Doppler signal c2 are sent to the control panel 5^.

As a result, through the above-described series of operations, the underwater vehicle 1 increases its speed again, stops homing, and moves to the next predicted point at high speed.

The above-mentioned intermittent blind navigation is repeated until the homing range of the underwater vehicle 1 reaches a distance at which the moving target 2 can be continuously captured.
(see reference numerals 1' and 2' in the figure), the moving target 2 is tracked at high speed and captured.

As described in detail above, according to the navigation method for an underwater vehicle of the present invention, information on the course and speed of a moving target obtained by the transducer during the low-speed search stage of the underwater vehicle is used. , a simple method of predicting a meeting point where the moving target can be captured in the homing range during the high-speed movement stage of the underwater vehicle, and tracking the moving target at high speed without homing to this predicted meeting point. Even if the underwater vehicle increases its speed after detecting a moving target during the search stage, there is no need to continuously receive echoes, so it will not be affected by a decrease in the homing range. This has the advantage that it is possible to track a moving target at high speed without any problems, and as a result, a moving target that avoids at high speed can be reliably captured.

[Brief explanation of drawings]

Figure 1 shows the navigation method of a conventional underwater vehicle.
Figure (a) is a plan view showing the tracking state of the underwater vehicle, Figure 1 (b) is an elevational view corresponding to Figure 1 (a), and Figure 2 is the underwater vehicle of the present invention. FIG. 3 is an explanatory diagram showing the navigation method of the underwater vehicle as the first embodiment of the present invention, and FIG. 4 is a block diagram of the underwater vehicle to which the navigation method of the present invention is applied. It is an explanatory view showing a navigation method of an underwater vehicle as a second example of the invention. 1, 1 at 1 b, 1 c, 1 d, 1
e ” 'Underwater vehicle, 1'...Underwater vehicle at the predicted meeting point, 1''...Underwater vehicle at the mesodic point, 2,
2b, 2c, 2d, 2e...moving sight object, 2'...moving target when the underwater vehicle reaches the predicted meeting point, 2''...moving target when the underwater vehicle reaches the intermediate point of view , 3... Transmitter/receiver, 4... Transmitter/receiver, 5... Control panel, 6... Steering device, 7... Inertial guidance device. Sub-Attorney, Patent Attorney Yoshihiko Iinuma Figure 1 (0) × ( b) Figure 2 Figure 3 Figure 4

Claims (1)

[Claims] Based on the information on the Kushiro and speed of the moving target obtained by the transducer during the low-speed search stage of the underwater vehicle, the moving target can be captured by the homing lens during the high-speed movement stage of the underwater vehicle. A navigation method for an underwater vehicle, characterized by predicting a meeting point and tracking the moving target at high speed without homing to the predicted meeting point.