JPS61138187A - Sonar device - Google Patents

Abstract

PURPOSE:To make possible the execution of three-dimensional scanning in real time with high resolving power with extremely simple constitution by executing vertical plane scanning, supplying the output for each of vertical split beam to a horizontal phase matching part which scans while matching the phases over the horizontal plane of a hydrophone and executing the three-dimensional scanning of the wave receiving plane of the hydrophone. CONSTITUTION:The scrupulous horizontal phase matching 3 and the scanning thereof by the combination of Quadrature phase shifting and matching and the delayed phase matching by a charge transfer device CTD are realized in real time on the horizontal plane of the hydrophone array 1 in a sonar device of a serial phase shift beam former type utilizing CCD. The phase matching by only the sampling shift is realized by a split beam method in a vertical phase matching part 2 by making use of the characteristic that the phase matching process is extremely simple in the case of, for example, 90 deg. phase difference of the adjacent hydrophones on the vertical plane. The three- dimensional scanning of the high resolving power is thus made possible even under the operating conditions under which the pulse width is required to be made as short as possible and the length of the hydrophone array is required to be made as large as possible.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a quadrature
C'r D with phase shift and delay circuit by e-sampling
This invention relates to a scanner device that performs three-dimensional high-speed scanning with high resolution using a serial phase shift beam homer format using delayed phasing.

[Conventional technology]

In order to obtain high resolution, a hydrophone with an extremely long aperture length compared to the wavelength of the sound waves used is used to improve azimuth resolution, and evenly short transmission pulses are used to improve distance resolution. These sonar devices are used for various high-resolution sonar applications such as exploration of sunken objects and buried objects. For sonar devices that require such high azimuth and distance resolution, quad
Perform rate sampling and convert this into the real part,
This real part is divided into an imaginary part with a phase difference of 90 degrees.
a-drature? In addition to converting the amplitude information into ringing data and expressing it digitally while keeping the amplitude information as an analog quantity, phasing processing is performed using a CTD equipped with a weighting coefficient circuit based on the arrangement conditions between the hydrophone elements. In recent years, high-resolution, high-speed scanning sonar devices that utilize the respective characteristics of analog data processing and digital data processing have been widely used as a method that significantly reduces the required hardware and processing time. It is also becoming well known that the processing technology is becoming established as a powerful basic technology for realizing high-resolution, high-speed scanning devices.

This processing technology uses the real part (Xn
) and imaginary part data (j Let X and jY be their absolute values V de η-
The receiving beam formed by determining yz is scanned over the horizontal plane of the hydrophone while being shifted one element at a time. Because of this usage, it is also well known as the serial phase 7-ft beam homer one-way system, for example. A 5erial phase 5hift
beam-formee using charge
transfer devices, J.J.

Brady, Journal of Acousti
cal 5ociety of America,
68 (2L Aug, 1980 and others).

In this method, the narrowband signals input from each hydrophone element on the horizontal plane are
After dividing into the re component, that is, the sine component X1(t) and the cosine component Yi(t), a phase shift is performed to cancel the influence of the arrival time difference based on the arrangement of the hydrophone element, and the following (1) is performed. , Quadrature sample pair Xn and Y shown in equation (2)
Get n.

Xn= cosθiXi −sinθHYi---
・(1) YH = cosθiYi + sinθiXi
--(2) In equations (1) and (2), θi is the desired phase shift angle.

In order to form a directional receive beam, it is necessary to phase the received signals from each element after the phase shift so that they are coherently added, and also to sharpen the beam width of this directional receive beam and create a side loop. Shedding that should be implemented to suppress
It is necessary to phase the quadrature signal by multiplying it by a weighting coefficient Wi corresponding to the quadrature signal. When the number of elements is n, the real part signal X(t
) and imaginary part signal Y(1) are the following (3) and (
4) It is shown by the formula.

X(t)=E (WicosJXi(t)−WiGiθ
1Yi (t)) ・・・・−・(3) 1=1 Y(t)=Σ (Wiensθi Yi (t)+Wi
mθ1Xi(t)) ......(4) Therefore, the amplitude 2 of the composite signal of these real part signal X(t) and imaginary part signal Y(t) (1) is expressed by the following equation (5) 0Z
(t) = CX”(t)+Y2(t))
-=- (5) The following method, which is suitable for more efficiently forming and scanning such a directional receiving beam over the horizontal plane of the hydrophone array, is a known technique proposed by Pitt and Grace. It is used as.

This technique consists of continuous Quadrature sampling of two different groups of time series samples X and Y in the time domain, which can be easily implemented by a timing shift operation of the sampling. That is, first, the first time series sample X is sampled at a sampling rate of f0/m. Here, fo is the center frequency of the received narrowband signal 5(t), m is determined by taking into account the Nyquist rate, and assuming that the bandwidth is B, the positive integer value closest to the value of fo /B is selected. .

Next, the second time series sample Y is sampled at the same sampling rate as the first time series sample X, but with its timing shifted by 1/4f0. The time series sample obtained in this way is 1/4fo ” 7
The continuous quadrature component Xi (t
) and Yi(t), and in this case the baseband component is equivalent to the transformed samples of these continuous Quadr-atu
is obtained as being equivalent to the spectrum of the envelope' component of the re sample.

The sampling rate f mentioned above. 7m is for each Quadr-
The highest frequency f of the a ture signal. /2, and thus by sampling the carrier wave of about 9 frequencies into quadrature components. 10B/2 high frequency to 10B/2
can be converted to the baseband region and processed.

The real part data X, the imaginary part data Y, and the beam envelope 2 in such two-dimensional sampling processing are expressed by the following equations (7), (8), and (9), respectively.

Z=(X”10Y”) ・・・・・・
(9) Quadrature formed in this way
High resolution is achieved by forming a sample-type phase-shift beam homer using n elements of a hydrophone array, and by performing serial phase-shift beam homing in which the receiving wave surface is scanned while each element is set to 77 points. Hydrophone arrays with extremely long aperture lengths relative to the wavelength of the sound waves used to obtain them, as well as radiophone arrays of considerable size even for radiophonic devices that require transmit pulses with extremely short pulse widths. In addition, basically stable high-speed phased scanning of up to short pulses can be performed.

[Problem that the invention seeks to solve]

The above-mentioned conventional sonar device using a serial phase shift beamformer using a CTD has the following drawbacks.In other words, this kind of conventional high-speed scanning sonar using a CTD has the following drawbacks. As is clear from the description, phasing on the horizontal plane is only a phase shift phasing in which the phases of the received signals of each element are shifted to bring them into the same phase state. In order to improve the azimuth and distance resolution according to the purpose of operation of the sonar device, the aperture length of the hydrophone array is made extremely long compared to the wavelength of the sound waves used, and in conjunction with this condition, in order to improve the distance resolution as much as possible. When it is necessary to shorten the transmission pulse width as much as possible, it is impossible to handle the situation with phase shift phasing alone, and in addition to this, delay phasing is required to cover the time delay, but this cannot be applied. Furthermore, since beam scanning in the vertical plane is basically not considered, if it is necessary to perform phased scanning in the vertical plane, it is necessary to multiplex this method according to the number of elements in the vertical plane, etc. This method has the disadvantage that it has a very complicated structure and is hardly applicable in practice. The purpose of the present invention is to eliminate the above-mentioned drawbacks, to shorten the transmission pulse width as much as possible, and to provide a tertiary waveform with a simple configuration that can easily perform vertical scanning even under conditions where the aperture length of the hydrophone is desired to be long. The object of the present invention is to provide an original scanning Noner device.

[Means for solving problems]

The device of the present invention performs quadrature sampling of the received signal inputted through each element of the idrophone array.
The received beam is outputted through the output tuff of the rgeTransfer Device (charge transfer device), multiplied by a weighting coefficient corresponding to the relative position between each element, and then added and phased to form a received beam to the hydrobon array. A serial phase-shifting beamhole that processes the received signal by shifting elements one by one across the receiving surface and forming them one after another. -(5eria
l phase 5hift beamformer
) type no-ner device, the Quadrat
Phase phasing and output in which the phase rotation component of the delay amount corresponding to the relative position between the elements is shifted to the same phase state for the quadrature sampling data for each element obtained by ure sampling. Horizontal scanning that performs scanning while phasing across the horizontal plane of the hydrophone in combination with delay phasing that phases the time delay component of the delay amount to the same time state through a CTD with a delay circuit attached to the tap. A phasing scanning means and a quadrature of the received signals from each element on the vertical plane of the above-mentioned hydrophone array in units of horizontal scanning steps.
e-sampling, and in this sampling, only the timing is shifted for each element at the same period and added, thereby performing phasing in the vertical plane, and then adjusting the beam width and the beam width based on the element arrangement in the vertical plane. Vertical plane scanning is performed by outputting through a vertical plane tin slit beam formed by vertical plane beam groups of one pair each on the upper and lower sides, the number of which is based on the beam scanning range. vertical phasing and scanning means for performing three-dimensional scanning of the idrophone wave receiving surface while supplying the signal to the phasing and scanning means, and acquiring three-dimensional position information of the sonar target via the output of the horizontal phasing and scanning means; [Embodiment] Next, the present invention will be described in detail with reference to the drawings.

FIG. 1 is a block diagram showing the configuration of an embodiment of a sonar device according to the present invention, in which a hydrophone array 1. Vertical phasing section 2. Horizontal phasing section 39 Multiplication circuit 4.5 and 61 Phase detection circuit 7.8 and 9. Detection circuit 10.11 Repair 1
2. The horizontal phasing section 3 includes the same six horizontal phasing circuits 31, 32, 33, etc.
34, 35 and 36.

In this implementation, the hydrophone array uses a cylindrical array type with a so-called 4-stack configuration in which the vertical plane has four stages, but it may be a line array or any other shape other than the cylindrical array type. It doesn't matter what rank the staff is.

The output of this hydrophone array 1 is first subjected to phasing in the vertical plane by a vertical phasing section 2 for each step, so-called staple, in the horizontal plane constituting the azimuth unit, and then the beam width and the vertical plane are adjusted based on the element arrangement in the vertical plane. Two vertical plane split beams are formed by vertical plane beam groups, one pair each on the upper and lower sides, the number of which is based on the required beam scanning range.In this embodiment, there are three sets of split beam outputs, that is, the upper split beam output Sl.

Horizontal phasing circuits 31 to 3 of the horizontal phasing unit 3 serve as the horizontal split beam output S2 and the lower split beam output S3.
6, respectively.

FIG. 2 is a block diagram showing in detail the configuration of the vertical phasing section 2, and a portion of the hydrophone array 1 is also shown.

A portion of the hydrophone array 1 shown in FIG.
A stacked cylindrical hydrophone array includes four hydrophones 10IA to 10ID for one stave, and preamplifiers 102A to 102D and BP F (Band P) corresponding to each of these hydrophones.
a5s Filter) 103A to 103D, in which the hydrophone 101A is configured as the top layer staff element and the hydrophone 101D is configured as the bottom layer staff element.

The hydrophone array 1 is a cylindrical arrangement of a plurality of staves with a 4-staff configuration. Preamplifiers and BPFs are built in corresponding to the hydrophones included in all the staves that are to form receiving beams. Ru.

Now, the vertical phasing section 2 is a quadrature with the same function.
Sampling circuits 201-212. Each one is this Qu
delay circuits 213 to 218 and 219 to 221 .of the clock time period of the sampling circuit or an integral multiple thereof; It is configured to include adder circuits 222 to 227 and the like.

This vertical phasing unit 2 phases the received signal from the vertical hydrophone as a stuffing element for each staple of the hydrophone array 1, and performs this phasing correspondingly to the tin-lit beam. Its basic operation is to scan and then supply the vertical phase phased scanning output of each of these tin-lit beams to each built-in horizontal phasing circuit of the horizontal phasing section 3.The details of the operation are as follows. It is.

In the case of the vertical plane array hydrophones for one step, in the case of FIG. 2, the received wave outputs of hydrophones 101A to 101D are amplified by preamplifiers 102A to 102D, respectively, and then BPFs 103A to 104D whose passband is the frequency band used. Only the baseband signal is extracted through the BPF103A
The output of the BPF 103B is sent to the first Quadrature sampling circuit group 201 to 203, and the output of the BPF 103B is sent to the second Q
uadra ture sampling circuit group 204-20
6, the output of BPF103C is the third Quadratu
re? 7 pulling circuit groups 207 to 209, and B
The output of the PF 103D is outputted to the fourth quadrature sampling circuit group 210-21 210-212.

Each of the quadrature sampling circuits of the first to fourth quadrature sampling circuit groups described above performs quadrature sampling of the input by any one of the independent clock pulses C1 to C4.

FIG. 3 is a basic time sequence diagram of clock pulses in Quadrature f sampling.

111 to In shown in FIG. 3 are the sampling rate f as the first time series samples mentioned above. 7m, and Ql to Qn are the second time series sampled at the same period as this first time series sample, with only the timing shifted by = 1/4'fo. It is an imaginary sample as a sample. Quadrature sampling is set in advance from bare II and Ql on the time axis (after sampling of n pairs In and Qnte is completed and again Il and Q
The process continues continuously until l samples are extracted as one sample period.

The clock CLK shown in FIG.
It becomes 2.

In FIG. 2, the clock CLK is used as a clock pulse C1 as it is, and is delayed by τ by delay circuits 219 to 221, respectively. Those delayed by 1τ are clock pulses C2, and those delayed by 2τ are clock pulses C3 and 3τ.
The delayed one is used as clock pulse C4 for the designated valley quadrature sampling circuit.

To summarize the basics of vertical phasing in the vertical phasing section 2, we focus on the fact that processing is extremely simple when the phase difference between the outputs of adjacent upper and lower hydrophones is 90 degrees, and we perform quadrature sampling of the baseband signal. The sampling period of is kept the same, and phasing is attempted to be achieved using only timing shifts. For example, the phasing process becomes extremely simple when the phase difference between the outputs of adjacent elements is 90 degrees.
), it is easy to understand if we consider the case where the phase angle θi is 90 degrees.

FIG. 4 is an explanatory diagram of vertical phasing for explaining the basic concept of vertical phasing in the embodiment of FIG.

An incident sound wave S at an incident angle θ with respect to one step of vertical surface hydrophones 101A to 10LD arranged at an array interval d.
Suppose that has arrived. In this case, vertically adjacent nodes
The amount of phase shift 2π of the output by the hydrophone is expressed as δ=−(d)blood θ. Here, λ is the wavelength of the λ sound wave. The phase shift amount δ is 90 degrees, that is, the incident angle θ in this case is θ. Then θ. is the following (10)
The output of the hydrophone 10IA-101D is expressed by the formula: θo=th L.

are given by phase shifters 2001 to 2003, respectively, and summed by an adder 2004 in a coherent state, ie, vertically phased, to produce a vertical beam output.

In this vertical plane phasing, the incident angle θ is θ. It has a large amount of sensitivity. In other words, take advantage of this feature10.
) The wave can be received by forming multiple beams in the vertical angle directions of +OQ degrees and -00 degrees, as shown by the formula.Also, by switching these beams one after another and receiving the waves, vertical plane scanning is also possible. becomes. Moreover, this can be easily achieved using a split beam method, and in this embodiment, this is also achieved using phase difference detection using a split beam method.
Next, the contents of the vertical phasing in this embodiment will be explained by taking as an example the case where each staff has one hydrophone in the vertical plane as in the case of FIG. 4.

Now, if we look at the fact that the phase difference between the outputs of adjacent hydrophones is 90 degrees, it is the same as time-shifting the sampling by τ when the baseband signal is used as quadrature sampling data. It is clear that there is. In Figure 2, Qu
The adrature tabbling circuit 201 is BPF1
It receives the output of 03A and samples it with the clock pulse C1. Clock pulse C1 is CLK or time τ.

Through this sampling, the baseband signal of the af log amount which is the output of BPFl 03A is changed to I 1 as shown in FIG.
, Ql ~ In, convert into I, Q length/pull series of Qn. In addition, the quadrature/bring circuits 202 and 203 each receive a clock pulse C4.
Sample the output of PF103A. The clock pulse C4 and the clock pulse C11) are also shifted in timing by 3τ.

Next, Quadratu receives the output of BPF 103B.
Res7 pulling circuits 204, 205 and 206 sample with clock pulses Cz, C4 and C3, respectively. In these sampling conditions, Quadra
The outputs of the true sampling circuits 201 and 204 are given delay times 3τ and 2τ by delay circuits 213 and 214, respectively, to make them coherent, and then the adder circuit 22
2 and add these. Also, Quadratu
The outputs of the ref 7 bling circuits 202 and 205 are directly supplied to the adder circuit 223, and the output of the quadrature sampling circuit 206 is given only by the delay time in the delay circuit 215, and then supplied to the adder circuit 224 together with the output of the quadrature sampling circuit 203. will be added. In this way, the outputs of two sets of Quadrature abbling circuits having a negative phase difference from each other and the outputs of one set of Quadrature sampling circuits having no phase difference are phased to form three received beams. do. Of these three receiving beams, the adder circuit 222 receives 10 degrees, and the adder circuit 224 receives 10 degrees. degree, and then the addition circuit 223 calculates I by the receiving beam at the upper and lower angles of zero angle
Q sample output. In this embodiment, a zero-degree receive beam whose phasing process is relatively easy is also used. ' By exactly the same means, the third and fourth Quadr.
ature sampling circuit group 207 to 209 and 2
10-212. A delay circuit 216 with a delay time τ, a delay circuit 217 with a delay time 2τ. The delay circuit of the delay circuit 3τ and the adder circuits 225 to 227 cause the hydrophone IQiC,l
Vertical phasing is performed on the output of 0LD, and these are the outputs of adder circuit 225. 10 as the output of the adder circuit 227. degree, then addition circuit 2
26, the received beams at each of the upper and lower angles with an angle of zero are used to obtain Q sample outputs. The receiving beam formed using the outputs of hydrophones 101A and 101B is called the upper beam, and the receiving beam formed using the outputs of hydrophones 101C and 10ID is called the lower beam.The output of the vertical phasing section 2 is the same. It is obtained by combining the output of three sets of upper and lower beams with the same directional characteristics at the upper and lower angles, that is, three sets of split beams, and this split beam is obtained by combining the outputs of the vertical plane hydrophones 101 to 101D with clock pulses C1 to C4. It can be obtained by simply sampling one after another, thus the Quadratur
High-speed phased scanning of a vertical plane using a split beam can be easily performed by simply performing phasing by shifting the timing of e-sampling.

Three sets of tin-lit beam outputs are thus obtained by performing vertical phasing, namely, 100 degree upper and lower beams I, Q.
sample output, and one θaiE upper and lower beams I,
Q sample output and 0 degree upper and lower beams I,Q
Each sample output is supplied to a horizontal phasing section 3.

In the above-mentioned vertical phasing, the hydrophones in the vertical plane are arranged in rows for each staff Dl (rIA), but in general, in the horizontal direction, A hydrophones per staff are directionally synthesized as described later. Correspondingly, JA hydrophones are arranged for each staff in the vertical direction B staff, but it is clear that processing can be basically done in the same way even in this case, just by increasing the number of channels.

FIG. 5 is a block diagram showing in detail the configuration of each horizontal phasing circuit of the horizontal phasing section 3 in the embodiment of FIG. 1, and also shows the hydrophone array 1 and the vertical phasing section 2.

Hydrophone array 1 consists of A stave, B stuff, ie, XB = P pieces as a reception beam forming unit, and the staples are shifted one by one until the required horizontal scanning range is covered from #1 to #M゛ group. Rotate and scan. In this embodiment, the received wave outputs of A hydrophones are phased in the horizontal direction, and in the vertical direction, the outputs from the four hydrophones are phased one after another across the A staves. The data is supplied from the array to the vertical scanning unit 2, and the total number of P staples are scanned one by one in the horizontal direction until the required horizontal range is covered from #1 to #M group. The vertical phasing section 2 receiving this is θ
. Be lower, 0 odd, -〇. I and Q by each beam directly above and below
A sample output is generated and supplied to the horizontal phasing section 3.

FIG. 6 is a vertical beam group configuration diagram showing the configuration of the vertical beam group in the embodiment of FIG. 1.

A total of A staples arranged in the horizontal direction, and a 4-stage staff in this embodiment, generally an 8-stage staff, for a total of AX
Rotating and scanning using B = P hydrophone elements, □The vertical beam is an upward beam of 2 staffs above,
Also, 3 vertical beams as lower beams with 2 staffs below, 10.

degree, 0 degree and 100 degree beams.

Further, horizontal beam groups are also shown, indicating that narrow beams are formed by A hydrophones at intervals in the scanning direction.

The explanation will be explained by returning to FIG. 5 again. Although FIG. 5 explains the case where the 109 beam beam output is supplied to the horizontal phasing circuit 31 as an example, the case where outputs from other beams are processed is exactly the same.

Of the two hydrophones in group #1 of the hydrophone array, the outputs of the eight hydrophones necessary to form a beam above +θG and the desired horizontal directivity are output from the vertical phasing unit 2. The I temple output III is outputted as the Q length/pull output Qi and is supplied to the horizontal phasing circuit 31. Here, the villages are 1 to R.

The horizontal phasing circuit 31 includes a phase phasing circuit 311 and a delay phasing circuit 322, and further includes a phase phasing circuit 311 and a delay phasing circuit 322.
11 is a delay circuit 3111. d1 phase shift coefficient multiplication circuit 311
2 and 3113. It is configured to include cm phase shift coefficient multiplication circuits 3114 and 3115 and addition circuits 3116 and 3117. Further, the delay phasing circuit 312 includes the real part delay phasing circuit 3121. It is configured to include an imaginary part delay phasing circuit 3122 and an absolute value calculation circuit 3123.

Both the phase phasing circuit 311 and the delay phasing circuit 312 are driven by a clock pulse of one cycle of CLK/2, and the real data sample output 1 is delayed by a time τ in the delay circuit 3111 and then internally shifted. It is supplied to a phase coefficient multiplier 3112 and a phase shift coefficient multiplier 3114.
- FIG. 7 is a horizontal phasing principle diagram for explaining the basic principle of horizontal phasing in the embodiment of FIG. 1.

The horizontal phasing principle diagram in Figure 7 is intended for phasing when the longest delay required in horizontal phasing is an integral multiple or more of the transmitted pulse, that is, the echo pulse, and cannot be processed by phase shift phasing alone. It is something.

Sound waves arrive at the hydrophone array 1 from the direction of the arrow, and the sound waves are sent to R groups from #l group to #Ml group.
+10 by each hydrophone. It is assumed that horizontal scanning is performed while forming a horizontal beam that is a direct beam.

In this case, the total amount of delay to be given to each group is as shown as the total amount of delay, and the maximum amount of delay is set to be a large amount approximately an integral multiple of the echo pulse. All black circles indicate the center value 0. Now, if this total delay amount is divided into a phase shift rotation amount and a time delay amount and these are expressed as a phase shift amount and a delay amount, respectively, the result will be as shown in FIG. In this way, the total delay amount is divided into two parts, and the phase phasing circuit 311 in FIG. 5 only processes the phase shift amount, and the delay phasing circuit 312 performs time delay processing and calculation processing of the enovelogue (amplitude) by absolute value calculation. I am doing it.

-The phase shift coefficient multiplication circuit 3112 stores the inner phase shift coefficient in advance, multiplies this by the input, and then adds this to the addition circuit 3.
Furthermore, the phase shift coefficient multiplication circuit 3114 stores the phase shift coefficient in advance, multiplies it by the input, and then supplies it to the addition circuit 3116. .

The phase shift coefficients mentioned above are θ1 and θ1 (i=l~&), respectively. Here, 01 is a phase shift amount that is predetermined in accordance with the relative position of the hydrophone, and corresponds to the phase shift amount shown in FIG. ■ By performing multiplication by such a phase shift coefficient after delaying the sample output by τ, the phase shift coefficient multiplication circuit 3112 calculates Ii and θi, and the phase shift coefficient multiplication circuit 3
114 outputs l1casθi, respectively.

The phase shift coefficient multiplication circuit 3113 and the μs phase shift coefficient multiplication circuit 3115 have the same functions as the phase shift coefficient multiplication circuit 3112 and (2) phase shift coefficient multiplication circuit 3114, respectively, and input the Q sample output Qi in exactly the same manner. Q4 mθ
Output i and Qicoyθi. However, Qi self θ is output as fish species-specific data.

The adder circuit 3116 adds l1casθi and −Qigtnθi among the outputs after multiplication with the phase shift coefficients described above.
Ii(2) θ1-Qi image θi is obtained. The addition circuit is Q
.

=Qicasθi+Iimθi is obtained. These work and work Ql are 10 according to #1 group of hydrophone array.

Horizontal phase phasing is carried out for the upper beam. By scanning this horizontal phase phasing while shifting the hydrophones one by one from #l group to #Ml group, the outputs of ~IM and Q1~QM are obtained. get. These contents are Xn, Yn shown in the above-mentioned formulas (1) and (2).
These correspond to the following.

The outputs of the phase phasing circuit 311, ~I, and Q, ~Tsumi are the real part delay phasing circuit 312 of the delay phasing circuit 312, respectively.
1 and an imaginary part delay phasing circuit 3122, each of which is multiplied by a weighting coefficient Wi (i=l-R), and outputs an e-beam output and a Q-beam output of Ik and Qk (k=x to M). As described above, the weighting factor f&Wi is set in a manner that corresponds to the desired degree of side rope suppression.

The real part delay phasing circuit 3121 and the imaginary part delay phasing circuit 3122 each include a CCD (Charge Coup
A resistor group for weighting corresponding to the weighting coefficient Wi is placed in each of the output taps of the L-ed Device), and the tag output of the COD, which has an analog memory and shift register function, is connected to the output tap of the CLK/2 clock. ,
Work 1 to IM while refining one after another over both off cycles
, Ql to QM are each multiplied by a weighting coefficient Wi, and the resulting outputs are summed and combined and outputted as an I beam output crab and a Q beam output Qk (k=1 to M), respectively.

The CTD mentioned above does not need to be limited to CC1), and other
cTD For example, B B D (Bucket Brig
adeDevice ) S CF (5w1tche
d Capacitor F 1lter) etc., there is no problem at all.

The I beam output obtained in this way and the Q beam output Qk
are shown by the following equations (11) and (12), respectively, which are X(t) and Y shown by equations (3) and (4).
(t).

In engineering: Σ(WiIicosθ1−WHI i mθi
) --(11)1! I Qk=Σ(Wicosθi+WiIisinθi)
・= -(12) 1 snow 1 These Ik and Qk are then supplied to the absolute value calculation circuit 3123 to perform absolute value calculation (Ik+(4)) and output the output as the horizontal phased beam output H1, which is The envelope information of output from one horizontal scan is shown.

The above is 10. Is there any processing related to the horizontally phased beam output H1 formed by the eaves beam and the horizontal phasing circuit 31? +00 degree lower beam, 0 degree upper and lower beam, -
〇. Horizontal phasing circuit 32 as a target for the direct upper and lower beams
Horizontal phased beam output H2~H formed by ~36
6 is processed in exactly the same way.

Now, horizontal! The i-phase beam outputs 1-11 and Hl are supplied to a multiplier circuit 4 and a phase detection circuit 7, respectively. These are ten. It is also an output by a split beam consisting of a direct beam and a diagonal beam.

The multiplier circuit 4 multiplies the horizontal phased beam outputs H1 and Hl to obtain a cross-correlation, and then supplies the output to the detection circuit 10.

The detection circuit 10 detects the echo pulse by accumulating and extracting only signal components with coherency using a correlation integration circuit or the like, and converts this detection output into a maximum value detection circuit 13.
and 0 supplied to the switch 15. The phase detection circuit 7 also outputs horizontally phased beam outputs H1 and Hl.
H by a known means that inputs
The phase difference between l and 82 is detected and supplied to the switch 14 as upper and lower angle information.

The multiplier circuit 5 and the phase detection circuit 8 are sugerite beams consisting of an O-eaves upper beam and a lower beam, respectively.

That is, the horizontal phased beam outputs H3 and H4 are received, and the multiplier circuit 6 and the phase detection circuit 9 receive →.

Split beam with upper eave beam and lower beam.

That is, when receiving the horizontal phased beam outputs H5 and Ho, in the case of the former, the detection output from the detection circuit 11 is the maximum value detection circuit 13.
is supplied to the switch 15 and the phase difference output is supplied to the switch 14. In the latter case, the detection output from the detection circuit 12 is supplied to the maximum value detection circuit 13 and the switch 15, and the phase difference output is supplied to the switch 15. The signal is supplied to the switch 14.

The maximum value detection circuit 13 compares the 93 detected outputs inputted in this manner, determines the maximum value, and displays this on the horizontal display C.
The luminance signal 13o1 is sent to the terminal T.

The switch 14 receives three phase difference signals from three sets of split beams, switches them one after another at the timing of the switching signal SW, and outputs them as target vertical angle signals.

The switching signal SW corresponds to 3 split beams and has a value of 100 each. degrees, 0 degrees, -〇. This is a signal for switching three vertical display sectors whose central vertical angles are degrees, and three sets of vertical angle information are switched and output one after another in synchronization with the switching of three sets of tin-lit beams.

The switch 15 outputs the three detection outputs as a luminance signal while switching them using a switching signal SW. In this way, the vertical display CRT obtains display information of the sonar echo in the vertical direction from this luminance signal and the above-mentioned vertical angle signal, and supplies these together with a separately input vertical deflection signal to the vertical display CPLT to perform vertical display. The figure is a scanning display diagram showing an example of horizontal and vertical scanning display in the embodiment of FIG.

In the horizontal scanning display, the detection output is displayed together with the maximum value within a preset horizontal scanning angle range. In the case of Figure 8, the maximum value is determined to be an echo and is automatically or manually displayed using a cursor.The horizontal scanning range is the horizontal scanning range, and the vertical scanning range is the center display angle direction. . Every time.

0 degrees, -〇. The images are displayed while being switched one after another every three display sectors at a time, and the horizontal echo of the horizontal scanning display is also displayed by the vertical scanning display. Note that the length in the radial direction in these horizontal and vertical scanning displays is set corresponding to the distance range.Although a cylindrical hydrophone array is used in the above-mentioned embodiment, other shapes may also be used. It is clear that the COD can be replaced with another CTD in the same way, and the number of split beams can also be set arbitrarily depending on the number of staff in the hydrophone array. It is clear that all of the above can be easily carried out without detracting from the spirit of the invention.

〔Effect of the invention〕

As explained above, according to the present invention, in a serial phase shift beamformer one-type sonar device using COD, in the horizontal plane of the hydrophone array, Quadra
A means for realizing fine-grained horizontal phasing and its scanning in real time by a combination of ture phase phasing and delayed phasing by CTD, and when the phase difference between adjacent hydrophones is 90 degrees in the vertical plane. Utilizing the characteristic that phasing processing is extremely simple, the pulse width can be shortened as much as possible and the length of the hydrophone array can be shortened by three-dimensional scanning and means for realizing phasing using a split beam method using only a sampling shift. The present invention has the advantage that it is possible to realize a scanner device that can perform high-resolution three-dimensional scanning in real time with an extremely simple configuration even under operational conditions that should be as large as possible.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing the configuration of an embodiment of a sonar device according to the present invention, FIG. 2 is a block diagram showing in detail the configuration of the vertical phasing section 2 in the embodiment shown in FIG. 1, and FIG. The figure is a basic time sequence diagram of clock pulses in Quadrature sampling, Figure 4 is an explanatory diagram of vertical phasing to explain the basic concept of vertical phasing in the embodiment of Figure 4, and Figure 5 is the diagram of Figure 1. FIG. 6 is a block diagram showing in detail the configuration of each horizontal phasing circuit of the horizontal phasing unit 3 in the embodiment of FIG. 1, and FIG. 6 is a vertical beam group configuration diagram showing the configuration of the vertical beam group in the embodiment of FIG. 1 is a horizontal phasing principle diagram for explaining the principle of vertical phasing in the embodiment of FIG. 1, and FIG. 8 is a scanning display diagram showing an example of horizontal and vertical scanning display in the embodiment of FIG. 4. 1...Hydrophone array, 2...Vertical phasing section, 3...Horizontal phasing section, 4-6...
・・Multiplication circuit, 7 to 9・・・・・Phase detection circuit, 10
~12...Detection circuit, 13...i large value detection circuit, 14,15...Switcher, 31-36
...Horizontal phasing circuit, 101A~l0ID...
...Hydrophone, 102A~102D...---
・Preamplifier, 103A to 103D...BPF
, 201-212---- Quadrature
Sampling circuit, 213-221...Delay circuit, 222-227...Addition circuit, 311...
... Phase phasing circuit, 312 ... Delay phasing circuit, 2001-2003 ... Phase shifter, 2004
... Adder, 3111 ... Delay circuit,
3112-3113...Output phase shift coefficient multiplier, 3
114-3115... Phase-shiftable coefficient multiplier, 31
16-3117...addition circuit, 3121...
... Real part delay phasing circuit, 3122 ... Imaginary part delay phasing circuit, 3123 ... Absolute value calculation circuit. $2 1g 4Uj! J $ 5 Figure 7 Singing Visit Showing Silkworm Eating Results $ 8 Moncha 7 Figure Procedure Amendment (Method) Showa 60゛° 12th 1, Indication of Incident 1988 Patent Application No. 2603
No. 77 No. 2, Title of the invention: 1-ner device 3, Relationship with the person making the amendment Applicant: 5-33-1 Shiba, Minato-ku, Tokyo (423) NEC Corporation Representative: Tadahiro Sekimoto 4, Agent 5: Date of amendment order: March 26, 1985 (shipment date) 6, Column L of “Detailed Description of the Invention” of the specification subject to amendment Contents of amendment: l”’ on page 5, lines 8 to 11 A 5erial
phaseshift beam-formee u
sing charge transfer devi
ces. J., J., Brady, Journal of
Acoustic 5ociety of Ameri
ca. 68(2), Aug. 1980 J. Serial phase shift using t-r charge transfer device it-
Beam Four 47-'', Jay, Jay, Prady, Journal of Acoustic Engineering Op America 68(2), August, 1980 (''
A 5erial phaseshift beam-
former using charge trans
J., J., Brady, Journal of
Acowtic 5ociety of America
a.

Claims (1)

[Claims] Quadrature consisting of the real part and imaginary part obtained by performing quadrature sampling of the received signal input through each element of the hydrophone array.
re data to CTD (ChargeTransferD
A receiving beam is output through the output tuff of the hydrophone array receiver, multiplied by a weighting coefficient corresponding to the relative position between each element, and then added and phased to form a receiving beam. A serial phase shift beamhomer processes the received signal while sequentially shaping the elements by shifting them one by one across the wavefront.
amformer) type sonar device, phase rotation components of the delay amount corresponding to the relative positions between the elements are shifted to the same phase state with respect to the quadrature sampling data for each element obtained by the quadrature sampling. While phasing is performed over the horizontal plane of the hydrophone by a combination of phase phasing to phase the time delay component of the delay amount to the same time state through a CTD with a delay circuit provided to the output tap. A horizontal phasing scanning means for performing scanning, and a quad
rate sampling, and in this sampling, only the timing is shifted and added for each element in the same period, thereby performing phasing in the vertical plane, and also performing phasing in the vertical plane based on the beam width based on the element arrangement in the vertical plane. Vertical plane scanning is performed by outputting through vertical plane split beams formed by pairs of vertical plane beams, each pair of upper and lower beams based on the beam scanning range, and the output of each vertical plane split beam is adjusted to the horizontal alignment. vertical phasing scanning means for performing three-dimensional scanning of the hydrophone wave receiving surface while supplying the signal to the phase scanning means, and acquiring three-dimensional position information of the sonar target via the output of the horizontal phasing scanning means; A sonar device characterized by performing three-dimensional scanning of a target.