JPS62277577A - Torpedo homing system - Google Patents

Abstract

PURPOSE:To improve target detection ability by providing a transmitter receiver for detecting the depth of the sea bottom under the body of a torpedo and knowing the depth of the sea bottom. CONSTITUTION:Sea bottom detection logic 22 sends out a trigger 19 for transmission based on the control signal 32 of homing logic 25 and a transmitting and receiving circuit 16 outputs a transmitted signal 17 at intervals determined by the trigger 19 to drive the transmitter receiver 15 for sea bottom position detection, thereby sending out an ultrasonic wave. The ultrasonic wave reflected by the sea bottom is received 15, amplified and waveform-shaped by the circuit 16 as a received signal 18, and outputted as a sea bottom detection echo gate 20. The logic 22 calculates the distance from a torpedo to the sea bottom from the echo gate 20 and applies as a sea bottom position signal 26 to homing logic 25, directivity composition logic 24, and torpedo sailing control 23. The logic parts 24 and 25 are coupled by a control signal 33 and the logic 25 and control part 23 are coupled by a control signal 34; and the logic 25 determines the optimum sailing depth of the torpedo based on a signal 26, instructs it to the control 23, and also sends a command for acoustic beam composition which makes the depth area of the target most efficient to the logic 24.

Description

[Detailed Description of the Invention] 3. Detailed Description of the Invention (Industrial Application Field) The present invention provides a method for determining the homing cruising depth of the torpedo by installing a transducer for measuring the depth of the seabed in the lower body of the torpedo. This relates to a torpedo homing system that enables optimal control from a beam perspective.

(Prior art and problems) The conventional torpedo homing method uses a depth sensor to know the current cruising depth of the torpedo, a gyro to control the attitude of the snow body, and a gyro to control the attitude of the snow body. It had a magnetic sensor as well as an acoustic homing transducer for finding targets.

With this conventional horizontal movement method using torpedoes, it is difficult to obtain information on the depth of the ocean floor to which the torpedo is currently traveling, and generally information on the ocean floor depth is only entered as a fixed number as the initial arbitration specification of the torpedo. .

Of course, there are various methods of inputting this depth information, but the simplest method is to input the maximum cruising depth of the torpedo according to its usage location.

However, considering the improvement in the homing performance of torpedoes in the future and the diversification of the sea area in which torpedoes operate, it is thought that the torpedoes themselves must necessarily know the depth of the ocean floor in the area in which they are currently moving. It will be done. This is an important condition primarily when torpedoes are operated in very shallow waters or near the coast. The reason for this will be explained with reference to FIGS. 3 and 5.

Figure 3 shows how conventional seabed 3
This figure shows a case in which variable beam technology is applied to an active homing torpedo, which does not have a means to automatically know the height L up to the torpedo 1.

Here, variable beam technology means that the directivity width of the delivery beam is changed from time to time during the time T between one transmission signal 40 and the next transmission signal 40 shown in FIG. 4,5.6
This is a method of arbitrarily changing the angle in small increments.

However, the directional axis 8 of the received beam is constant and is normally set in the traveling direction.

As shown in Figure 3, when the position of torpedo 1 is closer to seabed 3 than sea surface 2 (that is, in the case of LAD), the information about the torpedo itself held by torpedo 1 is the current depth of the torpedo from sea surface 2. The transfer beams 4, 5, and 6 formed by the homing head (the torpedo tip including the homing transducer)
is calculated only so that the sea surface reverberation is minimized, and from point 7 in Figure 3 (the point where the part where the directivity has not yet become sufficiently small cuts off the seabed surface 3), the seafloor reverberation is more than expected. Many of these signals reach the torpedo's signal processing system, worsening the S/R ratio, which is the ratio between the echo signal from the target and the reverberation that becomes noise.

On the other hand, when the torpedo is closer to the sea surface 10 than the sea bed 11, as in the case of torpedo 9 in Figure f55 (L>D in 1 in Figure 3), the torpedo is closer to the sea surface 10, as in torpedo 9'. Detection areas 13 and 13' indicated by diagonal lines at the tips of acoustic beams (transmission/reception beams) 12 and 12' (the farthest area detected by acoustic beams 12 and 12') As can be seen from the ratio of each detection area), there is a possibility that the detection area will be drastically reduced.

This is because the acoustic beam for homing formed by the transducer of a torpedo is generally symmetrical vertically or horizontally with respect to its directional axis 8°14.14'. Of course, there are limits to the maximum and minimum values of the beam pointing width that can be formed by the acoustic beam due to the oscillator configuration of the transducer mounted on the torpedo. The depth to be determined should be determined from the maximum value of the beam at which sound can be formed. Furthermore, in cases where the depth of the ocean floor is complex or changes rapidly, such as near the coast, the torpedo itself always automatically grasps the depth of the ocean floor and efficiently changes and shapes its own acoustic beam over its detection area. The effect of soaking is obvious.

(Means for Solving the Problems) In view of the above points, the present invention provides a transducer for the purpose of detecting the depth of the seabed in the lower part of the torpedo's body, so that the torpedo itself can know the depth of the seabed, and thereby target the target. The aim is to provide a torpedo homing method with improved detection capabilities.

The present invention provides a wave transmitter/receiver for homing by attaching a transducer for detecting the seabed position to the lower body of a torpedo, and automatically measuring the depth of the seabed by the transducer to determine the cruising depth of the torpedo.
The problems of the prior art are solved by providing a means that can be optimally controlled based on the considerations.

(For 1 tank) In the torpedo homing method of the present invention, ultrasonic waves are emitted toward the seabed from a transducer attached to the lower body of the torpedo, and the seabed depth can be automatically measured by receiving reflected waves from the seabed. . As a result, it becomes possible to control the cruising depth of the torpedo and the transmission/reception beam of the homing transducer so that the target detection ability is maximized.

(Example) Hereinafter, an example of the fish 7 homing system according to the present invention will be described with reference to the drawings.

FIG. 1 is a simple functional block diagram of an example in which the present invention is applied to a torpedo control system. As shown in this figure, the torpedo homing method of the present invention includes a homing logic 25 that issues a control signal for target tracking, a directional synthesis logic 24 that determines the directivity of the transmitted and received beam for homing, and a torpedo navigation logic 25 that issues a control signal for target tracking. Control unit 23, directional synthesis and transmitting/receiving unit 2
8 and a homing transducer 36 for homing, the seabed ljl! The Hatake Sisde system has been added. Here, the seabed detection system 21 includes a seabed position detection transducer 15, a transmission/reception circuit 16, and a seabed detection port knock 22.

As shown in FIG. 2, the homing transducer 36 that forms an acoustic beam forward in the traveling direction of the torpedo 37 is placed at the tip of the fish 137, and the seabed position detection transducer 15 is located at the bottom of the torpedo's body. Placed.

However, make sure that it does not protrude beyond the torpedo body.

In the above configuration, based on the control signal 32 of the homing logic 25, the seabed detection logic 22 is used for wave transmission)+77
719 to the transmitter/receiver circuit 16, and the transmitter/receiver circuit 16 outputs the transmitter signal 17 at time intervals determined by the transmitter/receiver 19 to drive the transducer 15 for seabed position detection. Sends out ultrasonic waves towards. The ultrasonic waves reflected on the seabed are received by the transducer 15, and a transmission signal 1 is generated.
8 is added to the transmitting/receiving circuit 16 , where it is amplified, its waveform is detected, and output as a seabed detection echo date 20 to the seabed detection logic 22 . The seabed detection port knock 22 calculates the distance from the torpedo to the seabed from the seabed detection echo data 20 and sends it as a seabed position signal 26 to the homing logic 25, directionality synthesis logic 24, and torpedo travel control section 23.

The homing logic 25 and the directional synthesis logic 24 are organically coupled by a control signal 33, the homing logic 25 and the torpedo cruise control section 23 are organically coupled by a control signal 34, and the homing logic 25 is organically coupled by a control signal 33. The optimal torpedo travel depth is determined based on the information of the seabed position signal 26 and is given to the torpedo travel control unit 23. Directional synthesis of commands for acoustic beam synthesis to maximize the target search area is performed. Logic 24 is instructed. For example, in the case of FIG. 5, the depth is set to be the depth of torpedo 9', so that beam 12' is formed with sound with little sea surface reverberation and little sea bottom reverberation. Then, the directional synthesis logic 24 issues a directional synthesis command 29 to the directional synthesis and transmission/reception section 28, outputs a predetermined sound; the inverse wave signal 31 of the beam to the homing transducer 36, Ultrasonic waves are transmitted forward from the device 36 in the forward direction of travel. The transmitter/receiver 36 gradually narrows the transmitted beam as shown in FIG. 3 during the time from one wave transmission to the next wave transmission. The received signal 30 from the transducer 36 is amplified and waveform-shaped by the directional synthesis and transceiver section 28 and output as an echo signal 35 to the homing logic 25, which identifies the target and controls torpedo navigation. The torpedo is caused to track the target via the section 23.

(Effects of the Invention) As explained above, according to the torpedo homing method of the present invention, a transducer is attached to the lower body of the torpedo, and the depth of the ocean floor is automatically measured by the transducer to help the fish 2 navigate. Since it is equipped with a means for controlling the depth to be optimal for the transmitting and receiving beams of the homing transducer, it is possible to select the cruising depth of the torpedo that is most suitable for searching for targets in sea areas of various depths. Moreover, it should be possible to transmit and receive sound beams to make the search area most efficient, and to obtain high-quality transmission signals from targets. Therefore, a wider search area can be secured than a torpedo system without the present invention.

[Brief explanation of drawings]

Fig. 1 is a functional block diagram showing an embodiment of the torpedo homing system according to the present invention, Fig. 2 is an explanatory diagram showing the arrangement of the homing transducer and the seabed position detection transducer, and Fig. 3 is the invention. Figure 4 is a waveform diagram showing the transmitted signal; Figure 5 is an explanatory diagram when the torpedo cruising depth is too shallow. 1.9.9'...Torpedo, 2,10...Sea surface, 3,1
1...Undersea, 4,5,6,12,12'...Acoustic Beano 4.7...IF1 bottom reverberation, 8,14.14'
... Directional axis of the acoustic beam, 13.13'... Detection area, D... Depth from the sea surface to the torpedo, L... Distance from the torpedo to the seabed, 15... For detecting the seabed position Transmitter/receiver, 16... Transmitting/receiving circuit, 17... Transmitting signal, 18.
... Delivery signal, 19... Wave transmission trigger, 20... Seabed detection echo date, 21... Seabed detection system, 2
2... Seabed detection logic, 23... Torpedo navigation control unit, 24... Directivity synthesis logic, 25... Homing logic, 26... Seabed position signal, 27... Transducer/receiver, 28...Directional synthesis and transmission/reception section, 29...
Directional synthesis command, 30... Handover signal, 31... Transmission signal, 32, 33. 34... Control signal, 35... Echo signal, 36... Transmitter/receiver. Figure 2 Figure 3

Claims (1)

[Claims] (1) A transducer for detecting the seabed position is attached to the lower part of the torpedo's fuselage, and the transducer automatically measures the seabed depth to optimize the torpedo's cruising depth for the transmission and reception beam of the homing transducer. A torpedo homing system characterized by being equipped with a means for controlling the torpedo homing method.