KR102107020B1 - Apparatus and method for obtaining position information of torpedo applying bi-static acoustic detection - Google Patents

Abstract

The method performed by the torpedo position information acquisition device according to an embodiment of the present invention includes: firing a deception device that emits sound waves for location detection; among the sound waves for location detection, torpedoes fired from an enemy The method may include receiving a sound wave component reflected in the device and reaching the device, and estimating the location of the torpedo using a time point and a received direction of the sound wave component.

Description

Apparatus and method for acquiring torpedo position information with bi-state acoustic detection {APPARATUS AND METHOD FOR OBTAINING POSITION INFORMATION OF TORPEDO APPLYING BI-STATIC ACOUSTIC DETECTION}

The present invention relates to an apparatus and method for effectively establishing follow-up measures, such as avoiding or intercepting torpedoes, by acquiring location information of torpedoes fired from an enemy targeting a friendly trap.

Torpedo (魚雷, torpedo) means a weapon that is launched from a watercraft, a submarine or an airplane, and uses a self-propelled device to hang underwater and destroy or sink targets in water or underwater. Due to its accuracy, stealth and high speed, such a torpedo is a very threatening target for torpedoes.

1A and 1B are diagrams for explaining a method of attacking a torpedo against a surface ship. 1A illustrates a relatively early attack method using torpedoes. According to the method of FIG. 1A, various predicted travel paths 11a, 11b, and 11c of the target ship 10 of the torpedo 20 are predicted, and multiple torpedoes 20 are predicted by each predicted travel path 11a, 11b, Each of the paths 21a, 21b, and 21c corresponding to 11c) is fired.

However, in this way, a torpedo 20 is required to cover the expected angle range θ according to the path prediction of the surface of the ship 10, and the actual accuracy of the surface of the ship 10 may be out of expectation. It has the problem of falling. Accordingly, recently, a torpedo 20 that can be guided to a target water tank 10 is used as shown in FIG. 1B, and accordingly, the hit ratio is improved compared to the past.

In order to respond to the torpedo 20 having improved performance as described above, it is necessary to provide measures such as avoiding the torpedo 20 by changing the course of the target water tank 10 or further actively intercepting it. There is. To this end, first, it is required to grasp the exact position of the torpedo 20.

Patent Document 1: Republic of Korea Patent Publication No. 10-2009-0105312 (2009.10.07. Published)

The problem to be solved by the present invention is to provide an apparatus and method for preparing an effective countermeasure against a torpedo by estimating the location of the torpedo fired from an enemy with high accuracy.

However, the problems to be solved by the present invention are not limited to those mentioned above, but are not mentioned, but include the purpose that can be clearly understood by those skilled in the art from the following description can do.

The method performed by the torpedo position information acquisition device according to an embodiment of the present invention includes: firing a deception device that emits sound waves for location detection; among the sound waves for location detection, torpedoes fired from an enemy The method may include receiving a sound wave component reflected in the device and reaching the device, and estimating the location of the torpedo using a time point and a received direction of the sound wave component.

In addition, the receiving step further includes receiving a first sound wave, which is a sound wave component traveling through a straight path between the deceiver and the device, among the sound waves for location detection, wherein the estimating step comprises: The method may further include estimating the location of the torpedo by further using a time point at which the first sound wave was received and a direction in which the first sound wave was received.

Also, the estimating step may include a time difference between a time point at which the first sound wave is received and a time point at which the second sound wave is reflected, and reaches the device reflected by the torpedo, and a direction in which the first sound wave is received. And estimating the location of the torpedo based on the angle formed by the direction in which the second sound wave is received.

In addition, the deception may further radiate radiation noise that is the same as the radiation noise emitted by the trap on which the device is mounted.

In addition, the frequency of the sound wave for location detection may be determined among frequencies excluding the frequency band of radiated noise emitted by the deception.

In addition, it may further include the step of launching another deception machine other than the deception machine emitting the torpedo for the interception of the torpedo or the location detection sound wave toward the estimated torpedo position.

In addition, in the receiving, the signal to noise ratio (SNR) of the sensed sound wave having the same frequency as the sound wave for location detection, in which noise is removed after being received by the device, is greater than or equal to a predetermined threshold. In the case, it may include the step of considering the reception of the sensed sound wave as the reception of the sound wave component.

An apparatus for acquiring torpedo position information according to an embodiment of the present invention includes a launching unit that emits a deception device that emits sound waves for location detection, and among the sound waves for location detection, is reflected by a torpedo emitted from an enemy. It may include a receiving unit for receiving a sound wave component reaching the device, and a calculating unit for estimating the location of the torpedo using the time and the direction in which the receiving unit received the sound wave component.

In addition, the receiving unit, among the sound waves for location detection, further receives a first sound wave that is a sound wave component traveling through a straight path between the deceiver and the device, and the calculating unit receives the first sound wave by the receiving unit The location of the torpedo can be estimated by further using one time point and the received direction.

In addition, the operation unit, the time difference between the time when the receiving unit receives the first sound wave and the second sound wave that is a sound wave component reaching the device reflected by the torpedo, and the receiving unit is the first sound wave And estimating the location of the torpedo based on the angle between the received direction and the direction in which the second sound wave is received.

In addition, the deception may further radiate radiation noise equal to radiation noise emitted by the trap on which the device is mounted.

In addition, the frequency of the sound wave for location detection may be determined among frequencies excluding the frequency band of radiated noise emitted by the deception.

In addition, the launching unit may further launch another deception machine other than the deception machine emitting the torpedo for interception of the torpedo or the sound wave for location detection toward the estimated torpedo position.

In addition, when the signal-to-noise ratio of the sensed sound wave having the same frequency as the sound wave for position detection, in which noise is removed after being received by the receiver, is received by the receiver, when the signal-to-noise ratio is greater than a predetermined threshold, the reception of the sensed sound wave is performed by the sound wave. It can be regarded as the reception of ingredients.

According to an embodiment of the present invention, location information of a torpedo may be obtained by using a bi-static sound detection concept in which a sound wave emitting body and a receiving body are different. More specifically, in one embodiment of the present invention, the location of the torpedo can be estimated with high accuracy by using sound waves for location detection emitted from deceptions fired from friendly ships. As such, if the location information of the torpedo is continuously secured, the course of the torpedo vessel that is the target of the torpedo may be changed in consideration of the location of the torpedo, or more aggressive responses such as additional deception firing and torpedo interception may be performed. This can minimize the damage of allies caused by torpedo attacks.

1A and 1B are views for explaining a method of attacking a torpedo against a watercraft.
2 and 3 are views for explaining the role and operation of the deceiving machine according to an embodiment of the present invention.
4 is a view for explaining the configuration and operation of the torpedo position information acquisition device according to an embodiment of the present invention.
5 is a view for explaining in detail the principle of acquiring torpedo position information according to an embodiment of the present invention.
6 is a view for explaining each step of the method for obtaining torpedo position information according to an embodiment of the present invention.

Advantages and features of the present invention, and methods for achieving them will be clarified with reference to embodiments described below in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and only the embodiments allow the disclosure of the present invention to be complete, and common knowledge in the art to which the present invention pertains It is provided to completely inform the person having the scope of the invention, and the present invention is only defined by the scope of the claims.

In describing embodiments of the present invention, when it is determined that a detailed description of known functions or configurations may unnecessarily obscure the subject matter of the present invention, the detailed description will be omitted. In addition, terms to be described later are terms defined in consideration of functions in an embodiment of the present invention, which may vary according to a user's or operator's intention or practice. Therefore, the definition should be made based on the contents throughout this specification.

2 and 3 are views for explaining the role and operation of the deceiving machine according to an embodiment of the present invention. FIG. 2 shows a situation in which the torpedo 40 approaches a targeted trap of a friendly ship such as a watercraft 30 or a submarine existing at an initial position 30a. The surface of the torpedo box 30 may detect the noise generated by the driving of the torpedo 40 through a sonar system, such as the approach fact and approximate direction of approach of the torpedo 40.

The torpedo vessel 30 sensing the approach of the torpedo 40, the torpedo vessel 30 escapes the initial position 30a to avoid the torpedo 40, while the torpedoes 40a and 50b are torpedo 40 Can fire in the approaching direction. The deception machines 50a and 50b may emit radiation noise equal to or similar to the noise emitted from the watercraft. Then, the torpedo 40 is mistaken for the deception mates 50a and 50b due to the radiation noise and is induced to the deception mates 50a and 50b.

Referring to FIG. 2, it can be confirmed that the watercraft box 30 has overtaken the torpedo 40 by using two deception machines 50a and 50b. The watercraft 30 may escape the attack of the torpedo 40 by deviating from the position 30b where the deceptions 50a and 50b are fired, and by setting the course toward the position 30c opposite to the direction in which the deception was launched. There will be.

In order to perform the following countermeasures against the torpedo 40, such as avoiding the torpedo 40, it is necessary to accurately estimate the position of the torpedo 40. As described above, due to a propulsion screw for providing power to the torpedo 40, a specific noise is generated from the torpedo 40, and the torpedo ship 30 senses such noise and detects the torpedo ( 40) and approximate direction of approach can be estimated. However, it is difficult to know the exact location of the torpedo 40 in this way.

Referring to FIG. 3, it can be seen that the deceiver 50 radiates both the radiation noise for induction of the torpedo 40 and the sound wave for location detection to find the location of the torpedo 40. The sound wave for location detection may be set to be distinguished from radiated noise by having a frequency different from that of the radiated noise.

Among the sound waves for position detection radiated in various directions, the component 60 that collides with the torpedo 40 is reflected by the torpedo 40. In one embodiment of the present invention, the position of the torpedo 40 is estimated with high accuracy using the reflected component 60 as described above.

4 is a view for explaining the configuration and operation of the torpedo position information acquisition device according to an embodiment of the present invention. The torpedo position information acquisition device 100 according to an embodiment of the present invention may be mounted on the water tank 30 and may include a launching unit 110, a receiving unit 120, and a calculating unit 130. However, since the torpedo position information acquisition device 100 of FIG. 4 is only an embodiment of the present invention, the spirit of the present invention is not limited to the interpretation of FIG. 4.

The launching unit 110 may launch a deception device that emits sound waves for detecting a predetermined location, in response to a torpedo launched from an enemy. As described above, the deception may emit torpedoes in the direction of deception rather than on the deception 30 by radiating the same or similar radiation noise as the detonation vessel 30 together with sound waves for location detection.

The launching unit 110 may launch the deception at a predetermined elevation (eg, 45 °) toward a direction in which the torpedo approaches, based on the control of the calculation unit 130 to be described later. The launched deception will drop to sea level and then float at a certain position on the sea level. The approach direction of the torpedo may be determined by a separate torpedo detection system provided in the watercraft box 30. Alternatively, the receiving unit 120, which will be described later, may determine the approach direction of the torpedo by receiving noise emitted from the torpedo.

The receiving unit 120, among the sound waves for location detection emitted by the deception, is received without reflection by torpedoes after being emitted from the deception, 30, and more specifically, the sound wave components reaching the torpedo position information acquisition device 100 1 sound wave). The first sound wave may be a straight path connecting the deceiver and the torpedo position information acquisition device 100 as well as a path through which the first sound wave proceeds. In addition, among the sound waves for location detection, the reception unit 120 may further receive a sound wave component (second sound wave) that has reached the torpedo position information obtaining apparatus 100 after being reflected by the torpedo.

In order to receive the first sound wave and the second sound wave, the reception unit 120 may include an active or passive sonar system. In addition, the receiver 120 may include a filter for filtering other noise components (eg, noise emitted from the suspicious box 30) in order to extract only the sound wave components emitted from the deceiving machine.

When receiving the sound wave from the outside, the receiver 120 may extract the sensed sound wave having the same frequency band as the sound wave for detection by removing noise through the filter. When the signal to noise ratio (SNR) of the sensed sound wave is equal to or greater than a predetermined threshold, the receiver 120 may determine that the first sound wave or the second sound wave has been received. Since the second sound wave is received through a longer path than the first sound wave, it is possible to distinguish between the first sound wave and the second sound wave by comparing the arrival time between the two.

The signal-to-noise ratio may be obtained by a general active sonar equation, and may be expressed as a value of a signal excess gain (SE) calculated according to Equation 1 below.

In Equation 1, SL is the intensity (source level) of sound waves emitted from the deception, TL ₁ is the transmission loss in the path between the deception and the torpedo, TL ₂ is the path between the torpedo and the watercraft 30 The transmission loss at, NL is the ambient background noise level, TS is the target strength of the torpedo, DT is the detection threshold, and DI is the reception directivity, respectively. Since the matters related to the sonar system of the receiver 120 are well known to those skilled in the art, detailed descriptions of the above will be omitted in connection with the present invention.

The calculating unit 130 may estimate the position of the torpedo using the time and direction at which the receiving unit 120 receives the second sound wave. Also, the calculation unit 130 may use the time and direction at which the reception unit 120 receives the first sound wave together with the time and direction at which the second sound wave is received. For such an operation, the operation unit 130 may include a computing device such as a microprocessor, and a specific process of estimating the torpedo position will be described later with reference to FIG. 5.

5 is a view for explaining in detail the principle of acquiring torpedo position information according to an embodiment of the present invention. The torpedo position information acquisition device 100 mounted on the surface of the ship 30 is, among the sound waves 61 for position detection emitted by the deceiver 50, without reaching the torpedo 40 through a straight path. As described above, it is possible to receive the first sound wave 61a and the second sound wave 61b arriving after being reflected by the torpedo 40.

Since the operation unit 130 of the torpedo position information acquisition device 100 can set the launch information such as elevation or launch speed when the launch unit 110 launches the deception device 50, the position of the deception device 50 Can be seen. Alternatively, the calculation unit 130 based on the information on when the deception machine 50 emits a specific portion of the sound wave 61 for position detection, the time when the corresponding portion is received by the reception unit 120, the The location of the deception 50 may be determined by calculating the direction and distance in which the deception 50 exists through information such as the direction in which the 1 sound wave 61a is received and the traveling speed of the first sound wave 61a. . Alternatively, the calculating unit 130 may grasp the location of the deception machine 50 by other means, such as a global positioning system (GPS).

On the other hand, Equation 2 below is an expression of the time (τ) it takes until the second sound wave 61b emitted from the deception 50 is reflected by the torpedo 40 and reaches the receiver 120.

Here, R _DT is the distance between the deception 50 and the torpedo 40, R _TS is the distance between the torpedo 40 and the torpedo location information acquisition device 100 mounted on the watercraft 30, c is the second The speed of the sound waves 61b, that is, the speed of sound in the water, respectively. Of course, it can be assumed that the speed of the first sound wave 61a is also the same as the speed of the second sound wave 61b.

The calculator 130 may calculate a time difference between a time point at which the receiving unit 120 receives the first sound wave 61a and a time point at which the second sound wave 61b is received. As described above, the time it takes for the first sound wave 61a to radiate from the deception 50 and reach the torpedo position information acquisition device 100 can be known through the location of the deception 50. Therefore, the calculation unit 130 may obtain the value of τ by adding the time difference to the time taken to reach the first sound wave 61a.

In addition, the operation unit 130 may obtain a value of an angle α formed between a direction in which the first sound wave 61a is received and a direction in which the second sound wave 61b is received. Information regarding the direction and angle may be grasped by the sonar system of the receiving unit 120.

Meanwhile, Equation 3 below may be derived by the second cosine law.

Here, R _DS is the distance between the deceiver 50 and the torpedo position information acquisition device 100, and combining Equations 2 and 3 gives Equation 4 below.

As described above, the process of acquiring the values of c, τ, α, and R _DS has already been described, and the operation unit 130 finally acquires the values of R _TS , that is, torpedo position information by substituting these values into Equation (4). It is possible to know the distance to the torpedo 40 based on 100). Since the direction in which the torpedo 40 exists is known through the value of α, the operation unit 130 can express the location of the torpedo 40 using the distance and direction. The estimation of the position of the torpedo 40 may not be performed at one time, but may be continuously performed for a predetermined time.

As described so far, if the position of the torpedo 40 is estimated, the calculation unit 130 may take follow-up measures to respond to the torpedo 40. First, the operation unit 130 may control the starting system 31 of the watercraft vessel 30 so that the watercraft vessel 30 may hang in the direction of avoiding the torpedo 40. Alternatively, the calculation unit 130 may control the launching unit 110 to fire an interceptor torpedo or another deception device 50 for intercepting the torpedo 40 toward the estimated position.

6 is a view for explaining each step of the method for obtaining torpedo position information according to an embodiment of the present invention. The method of acquiring the torpedo position information of FIG. 6 may be performed by the torpedo position information acquisition device 100 described with reference to FIG. 4. However, since the method illustrated in FIG. 6 is only an embodiment of the present invention, the spirit of the present invention is not limitedly interpreted by FIG. 6, and each step of the method illustrated in FIG. 6 is illustrated in the drawings as the case may be. Of course, it can be performed by changing the bar and the order.

First, a separate torpedo detection system in the receiver 120 or the watercraft box 30 may detect the existence and approximate direction of the torpedo (S110). Then, the launching unit 110 may launch a deception device that emits sound waves for location detection (S120). The receiving unit 120 may receive the first sound wave and the second sound wave resulting from the sound wave for location detection radiated from the deceiver (S130), and the operation unit 140 may receive the first sound wave and the second sound wave at the time of reception and The location of the torpedo may be estimated using the reception direction (S140). Finally, the calculation unit 140 may perform a follow-up action to respond to the torpedo based on the estimated position (S150).

According to one embodiment of the present invention described so far, the position of a torpedo attacking a friendly trap is estimated with high accuracy, and a response is performed based on the estimated position, thereby minimizing damage to allies due to the attack of the torpedo can do.

Combinations of each block in the block diagrams and respective steps in the flow diagrams attached to the present invention may be performed by computer program instructions. These computer program instructions may be mounted on a processor of a general purpose computer, special purpose computer, or other programmable data processing equipment, so that instructions executed through a processor of a computer or other programmable data processing equipment may be used in each block or flowchart of the block diagram. In each step, means are created to perform the functions described. These computer program instructions can also be stored in computer readable or computer readable memory that can be oriented to a computer or other programmable data processing equipment to implement a function in a particular manner, so that computer readable or computer readable memory The instructions stored in it are also possible to produce an article of manufacture containing instructions means for performing the functions described in each block or flowchart step of the block diagram. Since computer program instructions may be mounted on a computer or other programmable data processing equipment, a series of operational steps are performed on the computer or other programmable data processing equipment to create a process that is executed by the computer to generate a computer or other programmable data. It is also possible for instructions to perform processing equipment to provide steps for executing the functions described in each block of the block diagram and in each step of the flowchart.

Further, each block or each step may represent a module, segment, or portion of code that includes one or more executable instructions for executing the specified logical function (s). It should also be noted that in some alternative embodiments it is also possible that the functions mentioned in blocks or steps occur out of order. For example, two blocks or steps shown in succession may in fact be executed substantially simultaneously, or it is also possible that the blocks or steps are sometimes performed in reverse order depending on the corresponding function.

The above description is merely illustrative of the technical idea of the present invention, and those of ordinary skill in the art to which the present invention pertains may make various modifications and variations without departing from the essential quality of the present invention. Therefore, the embodiments disclosed in the present invention are not intended to limit the technical spirit of the present invention, but to explain, and the scope of the technical spirit of the present invention is not limited by these embodiments. The scope of protection of the present invention should be interpreted by the following claims, and all technical ideas within the scope equivalent thereto should be interpreted as being included in the scope of the present invention.

10: Suspicious
20: Torpedo
30: Suspicious
31: starting system
40: Torpedo
50: Deception
100: torpedo position information acquisition device
110: launching unit
120: receiver
130: operation unit

Claims (14)

As a method performed by the torpedo position information acquisition device,
In order to avoid torpedoes fired from an enemy, the torpedo position information acquiring device fires a deception device that radiates sound waves for location detection to detect the location of the torpedo together with radiation noise for guiding the torpedo;
Receiving a sound wave component reflected by the torpedo among the sound waves for location detection emitted by the deception;
Estimating the location of the torpedo using the time point and the direction in which the sound wave component was received; And
Based on the estimated location of the torpedo, determining whether to perform a subsequent process to evade the torpedo
How to get torpedo position information. According to claim 1,
The receiving step further includes receiving, among the sound waves for location detection, a first sound wave that is a sound wave component that progresses through a straight path between the deceiver and the device,
The estimating step includes estimating the location of the torpedo by further using a time point and the direction in which the first sound wave was received.
How to get torpedo position information. According to claim 2,
The estimating step includes a time difference between a time point at which the first sound wave is received and a time point at which the second sound wave, which is a sound wave component reflected in the torpedo, arrives at the device, the direction at which the first sound wave was received, and the 2 estimating the location of the torpedo based on the angle formed by the direction in which the sound wave is received
How to get torpedo position information. delete According to claim 1,
The frequency of the sound wave for position detection is determined among frequencies excluding the frequency band of the radiation noise emitted by the deception.
How to get torpedo position information. According to claim 1,
Determining whether to perform a subsequent process to avoid the torpedo,
Towards the estimated torpedo position, firing another torpedo for the interceptor to intercept the torpedo or for the interception of the location detection sound wave
How to get torpedo position information. According to claim 1,
In the case of receiving, when the signal to noise ratio (SNR) of the sensed sound wave having the same frequency as the sound wave for location detection, in which noise is removed after being received by the device, is greater than or equal to a predetermined threshold, And receiving the sensed sound wave as receiving the sound wave component.
How to get torpedo position information. A device for obtaining torpedo position information,
In order to avoid torpedoes fired from the enemy, a launching unit for emitting a deception radiating sound waves for location detection for detecting the location of the torpedo together with the radiation noise for guiding the torpedo;
Of the sound wave for location detection emitted by the deception, receiving unit for receiving a sound wave component reflected by the torpedo; And
The receiving unit includes a calculation unit for estimating the location of the torpedo using the time point and the direction in which the sound wave component was received,
The calculation unit,
Based on the estimated position of the torpedo, determining whether to perform a subsequent process to evade the torpedo
Torpedo location information acquisition device. The method of claim 8,
The receiving unit further receives a first sound wave, which is a sound wave component traveling through a straight path between the deceiver and the device, among the sound waves for location detection,
The calculating unit further estimates the position of the torpedo by further using a point at which the receiving unit receives the first sound wave and a received direction.
Torpedo location information acquisition device. The method of claim 9,
The operation unit, the time difference between the time when the receiving unit receives the first sound wave and the second sound wave that is a sound wave component reaching the device reflected by the torpedo, and the receiving unit receives the first sound wave And estimating the location of the torpedo based on an angle between a direction and a direction in which the second sound wave is received.
Torpedo location information acquisition device. delete The method of claim 8,
The frequency of the sound wave for position detection is determined among frequencies excluding the frequency band of the radiation noise emitted by the deception.
Torpedo location information acquisition device. The method of claim 8,
The launching unit further launches another deception machine other than the deception machine emitting the torpedo for interception for the interception of the torpedo or the sound wave for location detection toward the estimated torpedo position.
Torpedo location information acquisition device. The method of claim 8,
When the signal-to-noise ratio of a sensed sound wave having the same frequency as the sound wave for position detection after noise received by the receiver is removed is received by the receiver, when the signal-to-noise ratio is greater than or equal to a predetermined threshold, the reception of the sensed sound wave is performed by Considered
Torpedo location information acquisition device.

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