KR100969878B1 - The real-time tracking system of underwater projectile and the method thereof - Google Patents

Abstract

PURPOSE: A real time tracking system and a tracing method thereof are provided to successively execute a training and test using an underwater projectile in various marine environment. CONSTITUTION: An unmanned surface vehicle(20,30,40) knows its own position information. A bidirectional underwater communications device(13,23,33,43) is included in an underwater projectile and the unmanned surface vehicle and executes bidirectional underwater communications. A main controller(100) monitors the location of the underwater projectile by using the location information of the unmanned surface vehicle and time of arrival information of a signal. The time of arrival information of a signal is obtained through the bidirectional underwater communications between the unmanned surface vehicle and the projectile.

Description

The Real-time Tracking System of Underwater Projectile and The Method

 The present invention relates to a system and a tracking method using at least three or more unmanned vehicles and tracking the position of the underwater vehicle in real time based on the underwater communication between the unmanned vehicle and the underwater vehicle.

Underwater launchers, especially torpedoes, are a useful means of sinking enemy subs in modern warfare. Recently, a means for effectively controlling the underwater launch vehicle has been developed.

The control of the underwater launch vehicle is a technique necessary for launching and recovering the underwater launch vehicle mainly for training, in case an underwater launch vehicle, especially a torpedo, is used in practice. If the underwater projectile is not properly controlled, the expensive underwater projectile may be lost, and other objects in the water may be hit and there may be a risk of inadvertent accidents.

Therefore, conventionally, in order to estimate the position of the underwater launch vehicle, a method of estimating the position of the training torpedo has been proposed by installing a buoy at a predetermined position on the surface of the water, but such a method is determined by the coarse waves and the strong wind. Not only could it be out of position, there is a drawback of losing a buoy, and there was a problem that the position of the training torpedo could not be accurately measured.

As another conventional technique, a method of estimating the position of a training torpedo by a sensor installed at a fixed position of the seabed has been proposed, but it is difficult to test the training torpedo in various marine environments, and the maintenance cost is expensive. If the torpedo is out of the range that can be detected by the sensor fixed to the seabed, there is a disadvantage that the torpedo can be lost.

SUMMARY OF THE INVENTION An object of the present invention is to provide a system and a tracking method for tracking the location of an underwater launch vehicle in real time so that the training and testing using the underwater launch vehicle can be successfully performed even in various marine environments.

Another object of the present invention is to provide a real-time tracking system and a tracking method for tracking the position of the underwater projectile while moving along the underwater projectile using an unmanned moving body.

Still another object of the present invention is to provide a real-time tracking system and a tracking method capable of controlling the operation of the underwater vehicle and the unmanned vehicle based on the location information and the state information of the underwater vehicle.

In order to achieve the above object, the real-time tracking system of the underwater projectile according to the date of the present invention, at least two or more unmanned mobile vehicle that knows its location information, and is provided between the underwater projectile and the unmanned mobile, bidirectional A bidirectional underwater communication device that enables underwater communication, and using the time of arrival (TOA) information of the signal obtained through underwater communication between the underwater launch vehicle and the unmanned vehicle and the position information of the unmanned vehicle It may include a main control device for monitoring the position, and controls the operation of the unmanned vehicle.

Preferably, the underwater launch vehicle may transmit a signal including its status information to the main control device through the bidirectional underwater communication device. Here, the status information may mean various matters such as mechanical and electronic defects of the underwater launch vehicle, fuel status, and speed information.

The main controller may further include a two-way underwater communication device capable of receiving a signal transmitted by the underwater launch vehicle and transmitting command information for controlling the underwater launch vehicle.

Preferably, the main control device includes a GPS receiver capable of specifying its position using GPS information, and a first RF communication unit capable of communicating with the unmanned vehicle, wherein the unmanned vehicle is provided with the first mobile unit. An RF communication unit and / or a second RF communication unit capable of communicating with the unmanned vehicle may be provided.

Also preferably, the unmanned vehicle may have a GPS receiver, which may specify its location using GPS information.

Preferably, the main controller is a distance calculator for calculating a distance between the underwater launch vehicle and the unmanned vehicle using the time of arrival (TOA) of the signal by the underwater communication; Generates a signal to be transmitted to the unmanned vehicle and the underwater vehicle according to a calculation unit for monitoring the position of the underwater vehicle and performing the triangulation through the least square method based on the calculated distance and the position information of the unmanned vehicle. It may include a signal generation unit.

In addition, it may be preferable to further include an error control unit using a Kalman filter in order to remove the error of the position information of the underwater projectile monitored by the calculating unit. Here, the position information of the underwater launch vehicle may mean a spatial coordinate in the three-dimensional space of the underwater launch vehicle measured by the main control device.

Further, preferably, the main control unit may be located at a fixed point or mounted on a separately provided movable body to move around the unmanned movable body.

In order to achieve the above object, the real-time tracking method of the underwater projectile according to the date of the present invention, (A) at least two or more unmanned vehicle, the arrival time of the signal obtained through the underwater communication between the underwater projectile and the unmanned vehicle Acquiring (TOA, Time Of Arrival) information; and (B) monitoring the location information of the underwater launch vehicle with the time information and its GPS information acquired by the unmanned vehicle in step (A). Transmitting to the main controller, (C) monitoring the position of the underwater vehicle in the main controller, and (D) the underwater vehicle in the main controller based on the monitored results of step (C) And / or radiating a command signal for controlling the operation of the unmanned vehicle.

Preferably, the unmanned vehicle may be provided with a GPS receiver that can use GPS information to specify its location.

Step (A) of the tracking method, it is preferable to be made through a bidirectional underwater communication device, which is provided to enable bidirectional underwater communication.

In step (B) of the tracking method, it is preferable that the underwater launch vehicle transmits a signal including its status information to the main control device through underwater communication. Here, the status information may refer to various matters such as mechanical and electronic defects of the underwater launch vehicle, fuel status, and speed information.

Step (C) of the tracking method, (c1) calculating the distance between the unmanned vehicle and the underwater projectile using the arrival time information transmitted through the step (B), and (c2) Monitoring the location information of the underwater vehicle by triangulating using the calculated distance and the GPS information of the unmanned vehicle, which is transmitted through the step (B), and (c3) the location information of the monitored underwater vehicle; It would be desirable to include a step of eliminating errors using a Kalman filter. Here, the position information of the underwater launch vehicle may mean a spatial coordinate in the three-dimensional space of the underwater launch vehicle measured by the main control device.

In addition, the triangulation of the step (c2) may be calculated through the least square method.

In step (D) of the tracking method, when the underwater launch vehicle and the unmanned vehicle move away from a distance capable of underwater communication, it is preferable to radiate a command signal to move the unmanned vehicle to a position where the underwater launch vehicle and the underwater communication is possible. something to do.

In addition, in step (D) of the tracking method, the underwater launch vehicle and the unmanned vehicle may be controlled to maintain a predetermined distance from each other.

In addition, in the real-time tracking method of the underwater launch vehicle, the main control device may be located at a fixed point or mounted on a separately provided moving object to operate around the unmanned moving object.

According to the present invention, there is an advantage in that the position and state information of the underwater launch vehicle can be grasped in real time in experiments, training using the underwater launch vehicle, in particular torpedo firing and control training performed for military purposes.

In addition, the present invention can track the position of the underwater vehicle while moving the unmanned vehicle moving around the underwater projectile, enabling the testing of the underwater projectile in a variety of underwater environments other than a limited sea area, and prevents the loss of the underwater projectile can do.

In addition, the present invention has the advantage of controlling the navigation and navigation of the underwater vehicle based on the location information and the status information of the underwater vehicle.

Hereinafter, with reference to the accompanying drawings, preferred embodiments of the present invention that can specifically realize the above object will be described. At this time, the configuration and operation of the present invention shown in the drawings and described by it are described as at least one embodiment, by which the technical spirit of the present invention and its core configuration and operation are not limited.

In the following description of an embodiment of the present invention, the description will be made with an underwater torpedo as a torpedo and the unmanned vehicle as an unmanned water vehicle (USV, Unmanned Surface Vehicle).

Figure 1a is a diagram schematically showing an embodiment of a real-time tracking system of the underwater launch vehicle according to the present invention.

Referring to Figure 1a, the present invention is a plurality of USV (20, 30, 40) disposed in the water and the bidirectional underwater communication device (23, 33, 43) provided in each of the plurality of USV (20, 30, 40), A torpedo 10 to track its position, a bidirectional underwater communication device 13 mounted on the torpedo 10 to enable underwater communication, and a main to communicate with the USVs 20, 30 and 40 to track the position of the torpedo. It is composed of a control device (100).

Here, the triangulation may be performed when at least two bidirectional underwater communication devices 23, 33, 43 provided in the USVs 20, 30, 40 and the USVs 20, 30, 40 are present. This is because in the present invention, the bidirectional underwater communication device 103 provided in the main control device 100 may serve as one USV. In the present embodiment, a method of using three USVs will be described.

In addition, the USVs 20, 30, and 40 are equipped with GPS receivers 22, 32, and 42 for receiving GPS information from the GPS satellites 200 so as to know their actual geographical location.

In addition, it is preferable that the main controller 100 is equipped with a GPS receiver similarly to a USV to know its geographical location. This is especially the case when the main control device 100 is mounted on the movable body 50 separately provided as in FIG. 1A. Here, the movable body 50 separately provided may be a test line provided for training using the torpedo 10.

USV (20, 30, 40) is provided with a first RF communication unit (21, 31, 41) and the main control device 100 is provided with a second RF communication unit (101). Here, the RF communication unit may be an RF modem. The first and second RF communication units communicate with each other in the air rather than underwater. The reason for using such RF communication is as follows.

That is, in order to detect the position of the torpedo 10 in real time, the RF information is used in the present invention because the position information of the torpedo 10 moving at every moment must be quickly transmitted to the main control apparatus 100. Here, the first RF communication unit 21, 31, 41 transmits the collected distance information of the torpedo 10 to the second RF communication unit 101. In addition, the second RF communication unit 101 may transmit the signals to all the USVs 20, 30, and 40 to control the operation of all the USVs 20, 30, and 40. In this way, collective navigation control is achieved.

Alternatively, the second RF communication unit 101 transmits a signal only to any one of all USVs 20, 30, and 40, for example, the first RF communication unit 21 provided in the USV 20. The USV 20 that controls the driving and receives a signal from the main controller 100 may send control signals to the second RF communication units 31 and 41 of the other USVs 30 and 40 to perform collective navigation control. .

Hereinafter will be described the communication process of the underwater launch vehicle, the unmanned vehicle and the main control device according to the present invention.

1B is a view schematically showing how the underwater launch vehicle, the unmanned vehicle, and the main control device communicate with each other according to an embodiment of the present invention.

Referring to FIG. 1B, the present invention indicates that communication can be performed between the bidirectional underwater communication device 13 mounted on the torpedo 10 and the bidirectional underwater communication device 103 mounted on the main control device 100. That is, the torpedo 10 can communicate with each of the USVs 20, 30, 40 and the main controller 100, and each USV 20, 30, 40 that receives a signal from the torpedo 10 is the main controller. Radiating the RF signal to the (100) is to enable the main control device 100 to track the position of the torpedo 10 in real time. In addition, the main controller 100 may collectively control the USVs 20, 30, and 40 as described above based on the position information of the torpedo 10, and may control the torpedo 10 itself. . Bidirectional underwater communication device (10, 22, 33, 43, 103) used in the present invention may be used as the communication protocol (protocol) position information and status information of the torpedo, command information of the main control device.

According to the present invention, the operation of the torpedo can be controlled based on the position information and the state information of the torpedo. This may be achieved by communication between the bidirectional underwater communication device 103 provided in the main control device 100 and the bidirectional underwater communication device 13 of the torpedo 10. That is, the two-way underwater communication device 13 of the torpedo transmits the state information of the torpedo to the two-way underwater communication device 103 of the main control device, and the main control device 100 operates the torpedo according to the received state information of the torpedo. The command information that can be controlled is transmitted to the bidirectional underwater communication device 13 of the torpedo. Here, the state information of the torpedo refers to various matters such as mechanical and electronic defects of the torpedo, fuel state, and speed information, and based on the state information, the main controller 100 continues or terminates the training using the torpedo. It is to ensure that the torpedo is safely recovered.

Hereinafter will be described the operation of the underwater launch body and the main control device according to the present invention.

2 is a view for explaining the operation of the underwater launch body and the main control device according to the present invention.

Referring to FIG. 2, the main controller 100 includes a first RF communication unit 101, a GPS receiver 102, a distance calculator 110, a calculator 120, a signal generator 130, and two-way underwater communication. Device 103. The distance calculation unit 110 of the main controller 100 includes the torpedo 10 and the main controller based on signals received from the GPS receiver 102, the bidirectional underwater communication device 103, and the first RF communication unit 101. The distance of 100 and the distance between torpedo 10 and each of the USVs 20, 30, and 40 are calculated.

The distance may be calculated using time of arrival information of the signal by communication between the torpedo 10 and the bidirectional underwater communication apparatus provided in each of the USVs 20, 30, and 40. In addition, the distance between them may be calculated by adding TOA information by communication between the torpedo 10 and the two-way underwater communication device provided between the main control device 100.

Next, the calculating unit 120 specifies the position of the torpedo 10 using the distance calculated by the distance calculating unit 110. The position tracking method of the torpedo 10 implemented by the calculation unit 120 will be described later.

Next, the signal generator 130 transmits an RF signal to each of the USVs 20, 30, 40 or any one of these USVs 20 based on the position information of the specific torpedo 10 in the calculator 120. To allow USVs 20, 30 and 40 to be collectively controlled. The process of performing collective navigation control of each USV 20, 30, and 40 has been described above. In addition, the signal generation unit 130 generates command information for controlling the operation of the torpedo 10 and the bidirectional underwater communication device of the torpedo 10 through the bidirectional underwater communication device 103 provided in the main control device 100. We can send to (13).

Hereinafter, the method of specifying the position of a torpedo by the calculating part provided in the main control apparatus of this invention is demonstrated.

3 is a view for explaining a real-time location tracking process of the underwater launch vehicle according to the present invention.

First, since the position tracking method of the torpedo implemented in the calculation unit of the present invention is based on triangulation using the least square method, the triangulation method will be described.

The relation between each USV 20, 30, 40 and the position of the torpedo 10 can be expressed as Equation 1 below.

[ Equation  One]

는 Cartesian 좌표계에서의 i번째 USV의 위치를 나타내고,

는 Cartesian 좌표계에서의 어뢰의 위치를 나타낸다.here,

Denotes the position of the i th USV in the Cartesian coordinate system ,

Indicates the position of the torpedo at the Cartesian coordinate system.

The distance information measured by the bidirectional underwater communication device provided in the USV 20, 30, 40 and the torpedo 10 includes noise. If the distance information (distance measurement value) is accurate in three-dimensional space, the position between the three USV (20, 30, 40) and torpedo 10 is a closed form if the square of both sides of [Equation 1] You can get harm. In general, however, distance measurements involve errors, so closed solutions cannot be obtained.

Accordingly, in the present invention, in performing triangulation, triangulation may be performed including distance information measured as a bidirectional underwater communication device provided in the main control device and torpedo 10 for accuracy. Four or more distances can be used using three or more USVs. In this case, the position is specified using the least-square method using the gaze vector as shown in [Equation 2].

[ Equation  2]

는 i번째 USV와 어뢰(10)간에 측정된 거리정보를 의미하고, r은 오차가 포함되지 않은 i번째 USV와 어뢰(10)간의 거리정보를, 그리고 v는 랜덤 노이즈(random noise)이다. here

Denotes distance information measured between the i-th USV and torpedo 10, r denotes distance information between the i-th USV and torpedo 10 that does not include an error, and v denotes random noise.

Since the distance information measured as described above includes noise, the present invention ignores the error included in the measured distance information and deduces the location information using the least square method, and then exists in the calculated location information. I remove the error to say.

를 선형화된 테일러(Taylor) 급수로 나타내면 하기의 [수학식 4]와 같이 나타낼 수 있다.At the position of the previous torpedo represented by Equation 3 below

When expressed as a linearized Taylor series can be expressed as Equation 4 below.

[ Equation  3]

[ Equation  4]

는

를 이용하여 계산된 USV와 어뢰와의 거리이며, [수학식 4]에서 2차항 이상을 무시하고 n개의 USV에 대하여 전개하면 하기 [수학식 5]와 같은 선형화된 수식을 얻을 수 있다.here,

Is

The distance between the USV and the torpedo calculated by using and ignoring more than a second term in [Equation 4] and developing for n USVs, a linearized equation as shown in [Equation 5] can be obtained.

[ Equation  5]

는 어뢰와 i번째 USV간의 시선벡터를 나타내며 하기 [수학식 6]과 같다.here,

Denotes a line of sight vector between the torpedo and the i-th USV and is represented by Equation 6 below.

[ Equation  6]

Using Equation 6, the position of the torpedo may be obtained as shown in Equation 7 below, and the accuracy of the torpedo may be increased by repeatedly performing this process.

[ Equation  7]

Referring to FIG. 3, when the distances L1, L2, and L3 measured between the USVs 20, 30 and 40 and the test line 60 are obtained, the USV having the location information as the origin as shown in the figure on the right is obtained. A sphere is drawn.

In the present invention, since three or more USVs may be provided, the more USVs are used, the more accurately the position of the torpedo 10 can be tracked. Even when three USVs are used, since the distance L4 between the test line 60 and the torpedo 10 can be obtained, four spheres are drawn as shown in FIG. 3 to track the position P of the torpedo. It can be.

In addition, the present invention may further include an error removing unit (not shown) in the main control device (reference numeral 100 of FIG. 2) to more accurately specify the position information of the torpedo.

The error removing unit removes an error included in the position information of the torpedo obtained by Equation 6 and removes the error by using the USV position information. The present invention provides an optimum filter for removing an error. The Kalman filter can be used to track the position of the underwater vehicle in real time by eliminating errors.

4 is a view schematically showing another embodiment of a real-time tracking system of the underwater launch vehicle according to the present invention.

Referring to Figure 4, it can be seen that the main controller 100 is fixed to the base 60 is installed on the boundary between the water and the land, such as the coast. Description of another embodiment of the present invention is replaced by the above.

Hereinafter, a description will be given of a method for tracking the position of the underwater launch vehicle according to the present invention in real time.

5 is a block diagram of a real-time location tracking method of the underwater launch vehicle according to the present invention.

Referring to FIG. 5, in performing a training or test using an underwater launch vehicle, a method for real-time tracking of the location of the underwater launch vehicle is first started by moving the unmanned vehicle to be positioned in the water and launching the underwater launch vehicle underwater. (S10). Underwater Here, the underwater launch vehicle may be a torpedo for training, and the drone should be provided with at least three or more for the same reason as described above.

When the training is started, the launched underwater vehicle and each unmanned vehicle communicate with each other to obtain time of arrival information (TOA) of the signal (S20). The arrival time information is obtained based on the time information between the unmanned mobile body and the signal exchanged by the underwater launch vehicle, which is performed by a bidirectional underwater communication device provided in the unmanned vehicle and the underwater launch vehicle.

Next, the unmanned vehicle transmits the GPS information, which is the arrival time information and the information about its geographical location, to the main controller (S30). Here, the unmanned vehicle is equipped with a GPS receiver to obtain information about its geographic location using a GPS satellite. In addition, the step S30 may include the step of directly transmitting the signal emitted from the bidirectional underwater communication device provided in the underwater projectile to the main control device. This is to improve the accuracy of the triangulation even when training or testing with the underwater vehicle using only three unmanned vehicles in carrying out triangulation to track the position of the underwater vehicle to be described later. In other words, the main control device is able to more accurately specify the position of the underwater launch vehicle by acting as another unmanned vehicle.

In addition, the underwater launch vehicle may include a signal related to its status information and transmit it directly to the main controller. The state information is information on all states of the underwater launch vehicle and has been described above. This is used as a basic data for generating command information for controlling the operation of the underwater vehicle by the main control device to be described later.

Next, the main control unit monitors the position of the underwater vehicle using the GPS information and the arrival time information (TOA) of the unmanned vehicle transmitted from each unmanned vehicle through step S30 (S40). At this time, monitoring the position of the underwater vehicle, including a signal transmitted directly from the bidirectional underwater communication device of the underwater vehicle to the main control device, it is possible to track the position of the underwater vehicle more accurately.

The position monitoring method of the underwater launch vehicle by the main control unit will be described later.

Next, the main controller performs group navigation control by radiating command signals for controlling the operation of the underwater vehicle and / or the unmanned vehicle by synthesizing the position information and the state information of the projected underwater vehicle and the position information of the unmanned vehicle. S50). Therefore, as the unmanned vehicle moves along the moving underwater vehicle, it is possible to continuously track the location of the underwater vehicle.

In addition, when the underwater launch vehicle travels away from the distance capable of underwater communication with the unmanned vehicle due to a malfunction or a defect of the underwater launch vehicle, the unmanned mobile vehicle was tracking the position of the underwater launch vehicle through a bidirectional underwater communication device provided with each other. In some unmanned vehicles, underwater communication may be interrupted. Thus, the unmanned mobile body with which the underwater communication with the underwater projectile is cut off transmits a signal informing such a state to the test line or the base of the land equipped with the main control device through the second RF communication unit provided in the unmanned mobile vehicle. The main control device receiving the signal transmits a command signal for moving the unmanned vehicle, which has lost underwater communication with the underwater vehicle, to a position where the underwater vehicle can communicate with the underwater vehicle, through the first RF communication unit. It works to keep track of the underwater vehicle without losing it.

In addition, in order to prevent the underwater projectile from being lost, the underwater projectile may run away from the unmanned vehicle by maintaining a predetermined distance from the underwater projectile using a signal communicated through the bidirectional underwater communication device provided in the underwater projectile and the unmanned vehicle. It can also be set.

Next, after completing the training or while continuing to perform the training to recover the underwater projectiles go through the step of determining whether to track the position of the underwater projectiles (S60). When the training ends, the tracking of the location of the underwater vehicle is terminated, and if the training continues, it is possible to track the location of the underwater vehicle in real time by repeating the process of returning to step S20.

Hereinafter, a detailed description of the method for monitoring the underwater launch vehicle made in step S40.

2 is a view for explaining the operation of the underwater launch vehicle and the main control device according to the present invention, Figure 6 is a block diagram of a method for monitoring the position of the underwater launch vehicle according to the present invention.

 For description, referring to FIGS. 2 and 6, the distance calculating unit 110 of the main control apparatus 100 is received from the GPS receiver 102, the bidirectional underwater communication device 103, and the first RF communication unit 101. Based on the signal, the distance between the underwater vehicle 10 and the main controller 100 and the distance between the underwater vehicle 10 and the unmanned vehicle are calculated (S41).

The distance may be calculated using time of arrival (TOA) information of a signal by communication between the underwater launch vehicle 10 and the bidirectional underwater communication device provided in each unmanned vehicle. In addition, here, the distance between them may be calculated by adding TOA information by communication between the underwater launch vehicle 10 and the bidirectional underwater communication device provided between the main control device 100.

Next, the calculating unit 120 performs triangulation to specify the position of the underwater projectile 10 by using the distance calculated by the distance calculating unit 110 (S42). At this time, since the distance information measured through the bidirectional underwater communication device provided in the unmanned moving object and the underwater launch vehicle 10 includes noise, in the present invention, in performing triangulation, the main control device and Triangulation may be performed including distance information measured as a bidirectional underwater communication device provided in the underwater projectile 10, and further, four or more distance information may be used using at least three unmanned moving bodies. Then, the location of the underwater launch vehicle is specified by applying the least square method described above.

Next, an error removing step is performed by an error removing unit (not shown) (S42). Since the distance information measured in step S42 includes noise, the present invention removes an error using a Kalman filter as an optimal filter to remove noise.

The present invention described so far is not limited to the above-described embodiments, and those skilled in the art to which the present invention pertains have various aspects of the present invention within the scope of the technical idea derived from the matters described in the appended claims. It will be appreciated that variations, modifications and applications are possible.

Figure 1a schematically shows an embodiment of a real-time tracking system of the underwater launch vehicle according to the present invention,

1B is a view schematically showing how the underwater launch vehicle, the unmanned vehicle, and the main control device communicate with each other according to an embodiment of the present invention;

2 is a view for explaining the operation of the underwater launch body and the main control device according to the present invention;

3 is a view for explaining a real-time location tracking process of the underwater launch vehicle according to the present invention,

4 is a view schematically showing another embodiment of a real-time tracking system of the underwater launch vehicle according to the present invention;

5 is a block diagram of a real-time location tracking method of the underwater launch vehicle according to the present invention;

6 is a block diagram of a method for monitoring the position of the underwater launch vehicle according to the present invention.

Claims (17)

In the real-time tracking system of the underwater vehicle, At least two unmanned vehicles known for their location information; A bidirectional underwater communication device provided in the underwater launch vehicle and the unmanned moving body to enable bidirectional underwater communication; And Monitoring the position of the underwater vehicle using the time of arrival (TOA) information of the signal obtained through bidirectional underwater communication between the underwater vehicle and the unmanned vehicle and the position information of the unmanned vehicle, and operating the unmanned vehicle. It includes a main control device for controlling the, the underwater launch vehicle is a real-time tracking system of the underwater launch vehicle characterized in that it transmits a signal containing its own state information to the main control device and the unmanned vehicle through the bidirectional underwater device . delete The method of claim 1, The main control device further comprises a two-way underwater communication device for receiving a signal transmitted by the underwater launch vehicle and transmits command information for controlling the underwater launch vehicle real-time tracking system of the underwater launch vehicle. The method of claim 1, The main control device includes a GPS receiver capable of specifying its position using GPS information and a first RF communication unit capable of communicating with the unmanned vehicle, and the unmanned vehicle is provided with the first RF communication unit and the unmanned vehicle. And a second RF communication unit capable of communicating with at least one of the at least one of them. The method of claim 1, The unmanned moving object is a real-time tracking system of the underwater launch vehicle, characterized in that it has a GPS receiver, which can specify its location using the GPS information. The method of claim 1, The main controller includes a distance calculator for calculating a distance between the underwater projectile and the unmanned vehicle using information on the arrival time of the signal by the underwater communication; A calculation unit configured to monitor the position of the underwater launch vehicle by performing triangulation using a least square method based on the calculated distance and the position information of the unmanned vehicle; And And a signal generator for generating a signal to be transmitted to the unmanned moving object and the underwater launch vehicle according to the operation result of the operation unit. The method of claim 6, And an error control unit using a Kalman filter to remove an error of position information of the underwater projectile monitored by the calculating unit. The method according to any one of claims 1 and 3 to 7, The main control device is located at a fixed point, or mounted on a separately provided moving body is a real-time tracking system of the underwater launch vehicle, characterized in that running around the unmanned mobile.  In the real-time tracking method of the underwater projectile using at least two unmanned moving object that knows the position information, (A) The arrival time of the signal obtained through the underwater communication between the underwater launch vehicle and the unmanned vehicle through the two-way underwater communication device is provided so that the unmanned vehicle is capable of two-way underwater communication between the underwater projectile and the unmanned vehicle (TOA, Acquiring Time Of Arrival) information; (B) the unmanned vehicle to transmit the time information and its GPS information obtained in the step (A) to the main control device provided for monitoring the position information of the underwater vehicle; (C) monitoring the position of the underwater vehicle in the main control unit; And (D) real-time tracking of the underwater launch vehicle comprising the step of radiating a command signal for controlling the operation of at least one of the underwater launch vehicle and the unmanned vehicle in the main control device based on the monitored result of step (C) Way. 10. The method of claim 9, The unmanned vehicle is a real-time tracking method of the underwater launch vehicle, characterized in that it comprises a GPS receiver that can use the GPS information to specify its location. delete 10. The method of claim 9, The step (B) is a real-time tracking method of the underwater launch vehicle further comprises the step of transmitting the signal containing the state information of the underwater launch vehicle to the main control device through the underwater communication. 10. The method of claim 9, Step (C) is,  (c1) calculating a distance between the unmanned vehicle and the underwater vehicle using the arrival time information transmitted through step (B); (c2) monitoring location information of the underwater vehicle by triangulating using the calculated distance and GPS information of the unmanned vehicle, which is transmitted through the step (B); And (c3) real-time tracking method of the underwater vehicle, characterized in that for removing the error of the position information of the monitored underwater vehicle using a Kalman filter. The method of claim 13, The triangulation of step (c2) is a real-time tracking method of the underwater projectile, characterized in that calculated through the least squares method. 10. The method of claim 9, In the step (D), when the underwater launcher and the unmanned vehicle deviates from the distance capable of underwater communication, the underwater vehicle characterized in that it emits a command signal to move the unmanned vehicle to the position capable of underwater communication with the underwater launcher Real time tracking method of projectile. 10. The method of claim 9, In the step (D), the underwater launch vehicle and the unmanned moving object is a real-time tracking method of the underwater launch vehicle, characterized in that controlled to maintain a distance capable of underwater communication. The method according to any one of claims 12 to 15, The main control device is located at a fixed point, or mounted on a separately provided moving object is a real-time tracking method of the underwater launch vehicle, characterized in that running around the unmanned moving body.

Images