KR20210131764A - Method and apparatus for estimating position of underwater vehicle - Google Patents

Abstract

The present disclosure relates to an apparatus for estimating the position of a moving underwater vehicle and a method thereof. In accordance with one embodiment, the method of estimating the position of a moving underwater vehicle includes the following steps of: selecting an acoustic sensor arrangement, which is used for estimating the position of a moving underwater vehicle, from among a plurality of acoustic sensor arrangements attached to a mine using a posture sensor mounted on the mine; estimating an azimuth of the moving underwater vehicle using the selected acoustic sensor arrangement; and correcting the estimated azimuth and estimating the position of the moving underwater vehicle using the posture sensor. The method of estimating the position of a moving underwater vehicle also includes the following steps of: calculating the impact strength of the mine based on the estimated position of the moving underwater vehicle; and determining whether the mine is triggered, using the calculated impact strength. Therefore, the present invention is capable of effectively incapacitating the moving underwater vehicle by accurately estimating the position of the moving underwater vehicle.

Description

METHOD AND APPARATUS FOR ESTIMATING POSITION OF UNDERWATER VEHICLE

The present disclosure provides a method and apparatus for estimating the position of an underwater body.

Acoustic-sensitive mines laid in a subsea terrain environment are single acoustic sensors, and can receive an acoustic signal radiated from an underwater vehicle and detonate in response to the received acoustic signal.

The existing mine acoustic sensing system is designed to detect underwater objects by designing a system that does not consider the underwater terrain environment. In the underwater environment, it was impossible to secure the field of view with the human eye and it was difficult to estimate the position of the underwater body because it was constantly changing. In addition, the existing mine acoustic sensing system estimates the closest point of time of an underwater vehicle based only on the size of the acoustic signal received by the acoustic sensor attached to the mine, and the mine is detonated.

However, the existing mine acoustic sensing system cannot estimate the position according to the relative distance of the underwater vehicle and the orientation of the underwater vehicle. If it is detonated even from a distance, the explosive power of the mine is not as effective as the underwater vehicle.

The acoustic response system for mines installed in the seabed terrain environment can change attitudes such as roll, pitch, yaw, and depth due to various underwater environmental changes such as currents, currents, and typhoons. In the case of estimating the position of the moving object, it is difficult to estimate the exact position, and a shaded area of the acoustic signal may occur.

Accordingly, there is a need for a technique for accurately estimating the position of an underwater vehicle in consideration of the change in the posture of the acoustic mine due to the change of the underwater environment.

KR 10-2019-0122991 KR 10-1826281

An object of the present invention is to provide a method and an apparatus for estimating the position of an underwater vehicle. Another object of the present invention is to provide a recording medium in which a program for executing the method in a computer is recorded. The technical problem to be achieved by the present embodiment is not limited to the technical problems as described above, and other technical problems may be inferred from the following embodiments.

As a means for achieving the above-described technical problem, a first aspect of the present disclosure is a method for estimating the position of an underwater body, a plurality of acoustic sensor arrays attached to the mine using an attitude sensor mounted on the mine selecting an acoustic sensor array to be used for estimating the position of the underwater vehicle among the steps, estimating the azimuth of the underwater vehicle using the selected acoustic sensor array, and correcting the estimated azimuth by using the posture sensor and estimating the position of the underwater vehicle, it is possible to provide a method for estimating the position of the underwater movement body.

In addition, the posture sensor, including a gyro sensor (Gyro Sensor), may provide a method for estimating the position of the underwater body.

In addition, the step of selecting the acoustic sensor array may provide a method for estimating the position of an underwater body in which the acoustic sensor array in a direction toward the water surface is selected using the posture sensor.

In addition, the plurality of acoustic sensor arrays, attached around the body of the mine, may provide a method for estimating the position of an underwater vehicle.

In addition, the acoustic sensor arrangement may include a plurality of acoustic sensors for receiving an acoustic signal, and the plurality of acoustic sensors are arranged in a line in at least two or more directions of each axis. .

In addition, the step of estimating the azimuth includes measuring azimuth angles that are symmetrical with respect to each axis in which the acoustic sensors are arranged in a line in the acoustic sensor array, and determining the azimuth angle at which the measured azimuth angles coincide with each other. It is possible to provide a method for estimating the position of an underwater vehicle by azimuth.

In addition, the step of estimating the position, using the roll, pitch, yaw, and depth of the mine measured by the attitude sensor, correcting the estimated azimuth and tracking the position of the underwater vehicle, estimating the position of the underwater vehicle method can be provided.

In addition, the method for estimating the position of the underwater movement body further includes the steps of calculating the impact strength of the mine based on the estimated position of the underwater vehicle and determining whether the mine is detonated by using the calculated impact strength It is possible to provide a method for estimating the position of an underwater vehicle.

In addition, the step of determining whether the detonation is, the mine is detonated when the calculated impact strength is greater than or equal to the threshold value, and the mine is not detonated when the calculated impact strength is less than or equal to the threshold value, an underwater movement body position estimation method can provide

In addition, the threshold value is calculated according to the following equation, it is possible to provide a method for estimating the position of the underwater body

[Equation]

threshold

는 수면과 상기 기뢰로부터 상기 수중 운동체를 연결한 직선 사이의 각도를 의미함)(Here, R means the linear distance between the mine and the underwater vehicle, and W means the explosive amount of the mine, and the

means the angle between the water surface and the straight line connecting the underwater vehicle from the mine)

A second aspect of the present disclosure may provide a recording medium recording a program for executing the method according to the first aspect in a computer.

A third aspect of the present disclosure is an apparatus for estimating the position of an underwater vehicle, an attitude sensor mounted on a mine to measure an attitude, a plurality of acoustic sensor arrays attached to the mine to receive an acoustic signal, and the underwater vehicle and a position estimator for estimating the position of , wherein the position estimator selects an acoustic sensor array to be used for estimating the position of the underwater body among the plurality of acoustic sensor arrays using the posture sensor, and the selected sound Estimate the azimuth of the underwater vehicle using a sensor array, and use the posture sensor to correct the estimated azimuth and estimate the position of the underwater vehicle, it is possible to provide an underwater vehicle position estimation apparatus.

In addition, the position estimator, on the basis of the estimated position of the underwater moving body, calculates the impact strength of the mine, and using the calculated impact strength, determines whether the mine is detonated, an underwater body position estimation device can provide

The present disclosure is capable of accurately estimating the position of an underwater vehicle by using a posture sensor, determining whether the estimated position of the underwater vehicle is within a detonable range of a mine, and detonating if it is within a detonable range to effectively neutralize an underwater vehicle and can maximize operational effectiveness.

Specifically, the position of the underwater vehicle can be determined by analyzing the radiated acoustic signal of the underwater vehicle incident on the acoustic sensor array to determine the orientation of the underwater vehicle, and various underwater environmental conditions using information measured by the orientation and attitude sensor of the underwater vehicle It is also possible to accurately estimate the position of an underwater body.

1 is a flowchart of a method for estimating a position of an underwater body according to an embodiment.
2 (a) and 2 (b) are diagrams for explaining the existing apparatus for estimating the position of an underwater moving body.
3 is a view for explaining the configuration of an underwater movement body position estimation apparatus according to an embodiment.
FIG. 4 is a view for explaining the acoustic sensor arrangement 310 shown in FIG. 3 .
FIG. 5 is an exemplary diagram for explaining a method of estimating an azimuth in the acoustic sensor array 400 illustrated in FIG. 4 .
FIG. 6 is a view for explaining step 130 shown in FIG. 1 .
FIG. 7 is a diagram for explaining step 150 shown in FIG. 1 .
8 is a block diagram of an apparatus for estimating a position of an underwater moving body according to an embodiment.

The terms used in the present embodiments have been selected as currently widely used general terms as possible while considering the functions in the present embodiments, which may vary depending on the intention or precedent of a person skilled in the art, the emergence of new technology, etc. have. In addition, in a specific case, there is a term arbitrarily selected by the applicant, and in this case, the meaning will be described in detail in the relevant part. Therefore, the terms used in the present embodiments should be defined based on the meaning of the term and the contents throughout the present embodiments, rather than the simple name of the term.

Since the present embodiments may have various changes and may have various forms, some embodiments will be illustrated in the drawings and described in detail. However, this is not intended to limit the present embodiments to a specific disclosed form, and should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present embodiments. The terms used herein are used only for description of the embodiments, and are not intended to limit the present embodiments.

Unless otherwise defined, terms used in the present embodiments have the same meanings as commonly understood by those of ordinary skill in the art to which the present embodiments belong. Terms such as those defined in commonly used dictionaries should be interpreted as having meanings consistent with the meanings in the context of the related art, and unless explicitly defined in the present embodiments, they have an ideal or excessively formal meaning. should not be interpreted.

Some embodiments of the present disclosure may be represented by functional block configurations and various processing steps. Some or all of these functional blocks may be implemented in various numbers of hardware and/or software configurations that perform specific functions. For example, the functional blocks of the present disclosure may be implemented by one or more microprocessors, or by circuit configurations for a given function. Also, for example, the functional blocks of the present disclosure may be implemented in various programming or scripting languages. The functional blocks may be implemented as an algorithm running on one or more processors. Also, the present disclosure may employ prior art for electronic configuration, signal processing, and/or data processing, and the like. Terms such as “mechanism”, “element”, “means” and “configuration” may be used broadly and are not limited to mechanical and physical components. In addition, terms such as “…unit” and “…module” described in the specification mean a unit that processes at least one function or operation, which may be implemented as hardware or software, or a combination of hardware and software.

In addition, the connecting lines or connecting members between the components shown in the drawings only exemplify functional connections and/or physical or circuit connections. In an actual device, a connection between components may be represented by various functional connections, physical connections, or circuit connections that are replaceable or added.

Hereinafter, the present disclosure will be described in detail with reference to the accompanying drawings.

1 is a flowchart of a method for estimating a position of an underwater body according to an embodiment.

Referring to FIG. 1 , in step 110 , the apparatus for estimating the position of an underwater body may select an acoustic sensor array using a posture sensor.

The apparatus for estimating an underwater body may include an attitude sensor and a plurality of acoustic sensor arrays, and may be used to estimate a position of an underwater body among a plurality of acoustic sensor arrays attached to the device for estimating an underwater body by using the attitude sensor. An acoustic sensor arrangement can be selected.

The underwater vehicle localization device may contain explosives and may correspond to acoustically sensitive mines. Acoustic-sensitive mines are mines designed to operate by sensing acoustic signals generated when a target ship passes, and are sometimes used in conjunction with magnetic or pressure sensors for more reliable operation. When a ship approaches a mine, the operating noise of the ship's various devices, including the thruster, can trigger the mine's ignition device and explode.

The underwater body may refer to a body that moves underwater or on the surface of the water, and may include, but is not limited to, a trap, a target ship, and the like.

The posture sensor is a sensor for measuring the posture of an object, and may include a gyro sensor, but is not limited thereto. The gyro sensor is a sensor that measures the change in the orientation of an object by using the property of always maintaining the initially set direction with high accuracy regardless of the rotation of the earth. It can be used for control, etc.

The acoustic sensor array is a sensor in which a plurality of acoustic sensors are arranged one-dimensionally or two-dimensionally, and may enable high-speed, multi-functional, and high-performance measurement of acoustic signals. The acoustic sensor arrangement may estimate the azimuth of the underwater vehicle and the distance from the underwater vehicle position estimation device to the underwater vehicle.

In one embodiment, the posture sensor mounted on the underwater body position estimator may measure the roll, pitch, yaw, and depth of the underwater body position estimator, and the posture sensor The acoustic sensor array to be used for estimating the position of the underwater body may be selected from among a plurality of acoustic sensor arrays attached to the underwater body position estimating device by using the measured posture information. For example, the attitude sensor mounted on the acoustic mine may measure the attitude of the acoustic mine and select an acoustic sensor arrangement to be used to estimate the position of the underwater vehicle by using the measured attitude information.

Roll may mean rotation in the left and right direction, yaw may mean rotation in the z-axis direction, pitch may mean forward up and down movement, and depth may mean vertical distance from the water surface to the underwater body positioning device can mean

The apparatus for estimating the position of the underwater body may select an acoustic sensor arrangement in a direction toward the water surface by using the posture sensor. Specifically, the posture sensor mounted on the underwater body position estimator can measure the roll, pitch, yaw, and depth of the underwater body position estimator, and uses the posture information measured by the posture sensor to the underwater body position estimator. Among a plurality of attached acoustic sensor arrays, an acoustic sensor array in a direction toward the water surface to be used for estimating the position of the underwater body may be selected.

The acoustic sensor array in the direction toward the water surface may refer to an acoustic sensor array located at an upper end having the closest distance to the water surface among a plurality of acoustic sensor arrays attached to the apparatus for estimating the location of an underwater body.

In this way, the underwater body position estimation device selects the acoustic sensor array in the direction toward the water surface using the posture sensor, and the selected acoustic sensor array estimates the location of the underwater body, even in a shaded area where sound cannot be transmitted due to an obstacle. It is possible to accurately estimate the position of an underwater body.

In step 120, the apparatus for estimating the position of the underwater vehicle may estimate the azimuth of the underwater vehicle.

In an embodiment, the apparatus for estimating the position of the underwater vehicle may estimate the azimuth of the underwater vehicle using the acoustic sensor array selected in step 110 . In the selected acoustic sensor array, azimuth angles symmetrical to the axes are measured with respect to each axis in which the acoustic sensors are arranged in a line, and an azimuth angle at which the measured azimuth angles coincide with each other may be estimated as the azimuth angle of the underwater vehicle.

For example, in the acoustic sensor array, the acoustic sensors are arranged in the a-axis and b-axis directions, the azimuth angles measured with respect to the a-axis are 150˚ and 30˚, and the azimuth angles measured based on the b-axis are 330˚ and 30˚. In the case of , 30°, which is an azimuth at which the measured azimuths coincide with each other, can be estimated as the azimuth of the underwater vehicle.

Azimuth is one of the coordinates indicating the position of an object on the earth's surface, such as astronomy, gunnery, navigation, and maps, and is used to express the direction in which one object or place is from another. The azimuth may correspond to one of parameters required for estimating the position of the underwater body.

In step 130, the apparatus for estimating the position of the underwater vehicle may correct the estimated azimuth and estimate the position of the underwater vehicle.

In an embodiment, the apparatus for estimating the position of the underwater body may correct the azimuth estimated in step 120 using the posture sensor and estimate the position of the underwater body. Specifically, the azimuth and distance estimated from the acoustic sensor array can be corrected using the information about roll, pitch, yaw, and depth measured by the posture sensor, and the position of the underwater body can be estimated using the azimuth and distance. have. Accordingly, it is possible to accurately estimate the position of the underwater body moving on the water surface.

In one embodiment, the apparatus for estimating the position of the underwater vehicle may further include calculating the impact strength of the mine (step 140) and determining whether the mine is detonated (step 150). If detonation of the mine is possible, step 160 may be performed, and if detonation of the mine is impossible, step 110 may be performed.

For example, the underwater moving body position estimating device may calculate the impact strength of the underwater moving body position estimating device based on the estimated position of the underwater moving body. , when the calculated impact strength is less than or equal to a threshold value, it may be determined not to detonate the apparatus for estimating the position of the underwater movement body. If the apparatus for estimating the position of the underwater body cannot be detonated, the position of the underwater body may be estimated by using the posture sensor again without detonation.

The impact strength may mean the strength of an impact that can affect the underwater body in the current underwater body position estimating device based on the estimated position of the underwater body, and the threshold value is a given value. It can mean the strength that can neutralize the movement.

2 (a) and 2 (b) are diagrams for explaining the existing apparatus for estimating the position of an underwater moving body.

Referring to FIG. 2( a ), the conventional underwater body position estimating apparatus 210 may include a single acoustic sensor 220 .

The existing underwater body position estimating device 210 may be configured with a single acoustic sensor 220 of a low frequency narrow band, and the detonation time may be calculated using only the acoustic signal size of the underwater body received by the single acoustic sensor 220. have.

Referring to FIG. 2( b ), the conventional underwater body position estimation apparatus 210 may calculate the detonation time by using the magnitude of the acoustic signal.

The existing underwater body position estimating device 210 may be detonated at the point A where the size of the acoustic signal of the underwater body received by the single acoustic sensor 220 is greatest. By detonating at the time when the size of the acoustic signal is maximum even when passing the vicinity of the existing underwater movement position estimating device 210, the relative distance or azimuth between the existing underwater vehicle position estimating device 210 and the underwater vehicle is large In this case, it may be impossible to neutralize the underwater vehicle.

3 is a view for explaining the configuration of an underwater movement body position estimation apparatus according to an embodiment.

Referring to FIG. 3 , the apparatus 300 for estimating the position of an underwater body may include an acoustic sensor array 310 and a posture sensor 320 . In the apparatus 300 for estimating the position of the underwater moving body shown in FIG. 3, the components related to the present embodiment are shown. Therefore, it can be understood by those of ordinary skill in the art related to the present embodiment that other general-purpose components in addition to those shown in FIG. Meanwhile, since the acoustic sensor arrangement 310 and the posture sensor 320 of FIG. 3 correspond to the acoustic sensor arrangement and the posture sensor described above in FIG. 1 , overlapping content will be omitted.

The acoustic sensor array 310 may be plural, and may be attached in various places around the body surface of the underwater body position estimating device 300 . The acoustic sensor array 310 may be composed of a plurality of acoustic sensors, and may receive radiated noise of an underwater vehicle. For example, the acoustic sensor array 310 attached to the body of the underwater body position estimation apparatus 300 may measure a time delay of a received acoustic signal.

Radiated noise is noise generated from a sound source of an underwater vehicle propagating underwater, and may include machinery noise, propeller noise, and hydrodynamic noise.

By attaching a plurality of acoustic sensor arrays 310 around the body of the underwater body position estimation device 300, the acoustic sensor array 310 can be directed in the direction of the underwater body, and a shaded area that does not receive an acoustic signal from the underwater body. This can be destroyed.

The posture sensor 320 may be mounted inside or attached to a surface of the underwater body position estimation device 300 .

In an embodiment, a gyro sensor may be mounted inside the underwater body position estimating device 300 , and the gyro sensor may measure roll, pitch, yaw, and depth of the underwater body position estimating device 300 . Using the posture information of the roll, pitch, yaw, and depth measured from the gyro sensor, the underwater body position estimating apparatus 300 may select an acoustic sensor array facing the water surface.

FIG. 4 is a view for explaining the acoustic sensor arrangement 310 shown in FIG. 3 .

Referring to FIG. 4 , the acoustic sensor array 400 may include a plurality of acoustic sensors. Since the acoustic sensor array 400 of FIG. 4 corresponds to the acoustic sensor array 310 of FIG. 3 and the acoustic sensor array described above in FIG. 1 , overlapping content will be omitted.

In one embodiment, the acoustic sensor array 400 includes a plurality of acoustic sensors for receiving an acoustic signal, and the plurality of acoustic sensors may be arranged in a line in at least two or more directions of each axis. The direction of the axis may include an x-axis direction and a y-axis direction, and each axis may form a right angle and may be configured with at least two or more acoustic sensors on each axis.

For example, the acoustic sensor array 400 may include the acoustic sensor 1 410 , the acoustic sensor 2 420 , and the acoustic sensor 3 430 . The acoustic sensor 1 410 and the acoustic sensor 2 420 may be arranged in a line in the a-axis direction, and the acoustic sensor 2 420 and the acoustic sensor 3 430 may be arranged in a line in the b-axis direction.

The acoustic sensor 1 410 , the acoustic sensor 2 420 , and the acoustic sensor 3 430 may transmit or receive an acoustic signal, and measure the azimuth of the underwater vehicle and the distance from the underwater vehicle position estimation device to the underwater vehicle. can In this way, the acoustic sensor array 400 of the underwater body position estimation apparatus may receive an acoustic signal from the underwater body by arranging a plurality of acoustic sensors in the axial direction to accurately estimate the position of the underwater body.

FIG. 5 is an exemplary diagram for explaining a method of estimating an azimuth in the acoustic sensor array 400 illustrated in FIG. 4 .

Referring to FIG. 5 , the acoustic sensor array 500 may estimate the azimuth of an underwater body. Since the acoustic sensor array 500 of FIG. 5 corresponds to the acoustic sensor array 400 of FIG. 4 , overlapping content will be omitted.

The acoustic sensor array 500 may include the minimum number of acoustic sensors, and may include acoustic sensors 510 arranged in the a-axis direction and acoustic sensors 520 arranged in the b-axis direction.

In one embodiment, the apparatus for estimating the position of the underwater vehicle measures each of the azimuth angles that are symmetrical with respect to each axis in which the acoustic sensors are arranged in a line in the acoustic sensor array 500, and sets the azimuth angle at which the measured azimuth angles coincide with each other. It can be estimated by azimuth.

For example, the apparatus for estimating the position of the underwater body may measure the axial direction of the acoustic sensors 510 arranged in the a-axis direction as 90° and symmetrical azimuth angles with respect to the a-axis as 150° and 30°, b The axis direction of the acoustic sensors 520 arranged in the axial direction may be 0°, and azimuth angles symmetrical with respect to the b-axis may be measured as 30° and 330°. The apparatus for estimating the position of the underwater vehicle may estimate 30˚, which is an azimuth angle in which the azimuth angles measured with respect to the a-axis and the b-axis coincide with each other, as the azimuth of the underwater vehicle.

FIG. 6 is a view for explaining step 130 shown in FIG. 1 .

Referring to FIG. 6 , the apparatus 600 for estimating the position of the underwater vehicle may correct the estimated azimuth of the underwater vehicle and estimate the position of the underwater vehicle. On the other hand, the underwater body position estimating device 600, the acoustic sensor array 610 and the attitude sensor 620 of FIG. 6 correspond to the underwater motion body position estimation device, the acoustic sensor array and the attitude sensor described above in FIG. 1, and FIG. Since it corresponds to the underwater movement body position estimation apparatus 300, the acoustic sensor array 310, and the posture sensor 320 of , overlapping content will be omitted.

The underwater body position estimating apparatus 600 may use the posture sensor 620 to correct the estimated azimuth and estimate the position of the underwater body.

In one embodiment, the underwater body position estimating device 600 uses the roll, pitch, yaw and depth of the underwater body position estimator 600 measured by the mounted posture sensor 620, the acoustic sensor array 610 The estimated azimuth and the distance from the underwater vehicle position estimation device 600 may be corrected, and the position of the underwater vehicle may be estimated based on the corrected azimuth and distance.

For example, in the acoustic sensor array 610, the azimuth of the underwater body may be estimated to be 0°. When the azimuth of the underwater vehicle is estimated to be 0°, the underwater vehicle position tracking device 600 may estimate the position of the underwater vehicle 630 indicated by a dotted line. However, in the case of using the posture sensor 620, the underwater movement body position estimation apparatus 600 may select the acoustic sensor array 610 in the direction toward the water surface among the plurality of acoustic sensor arrays, and in the selected acoustic sensor array 610, Even if the azimuth of the underwater vehicle is estimated to be 0°, it can be accurately estimated as the position of the underwater vehicle 640 indicated by a solid line using information such as roll, pitch, and yaw measured by the posture sensor 620 .

In this way, by using the posture sensor 620 to select the acoustic sensor array 610 in the direction toward the water surface, and correcting the azimuth and distance estimated by the acoustic sensor array 610, restrictions due to the beam characteristics of the acoustic sensor, etc. It may not be considered, and the position of the underwater body can be accurately estimated.

FIG. 7 is a diagram for explaining step 150 shown in FIG. 1 .

Referring to FIG. 7 , it is possible to calculate a threshold value used to determine whether the underwater body position estimating device 710 is detonated.

The threshold value is a previously given value and may mean the strength at which the underwater body position estimating device 710 can neutralize the underwater body. The threshold value may be calculated by the following equation.

[Equation]

threshold

)의 범위 내에 포함되는지 여부를 판단할 수 있다. 여기서, R은 수중 운동체 위치 추정 장치(710)와 수중 운동체(720) 사이의 기폭 가능한 최대 직선거리를 의미하고, W는 수중 운동체 위치 추정 장치(710)의 폭약량을 의미하고,

는 수면과 수중 운동체 위치 추정 장치(710)로부터 수중 운동체(720)를 연결한 직선 사이의 각도에 해당할 수 있다. R 및

의 값은 수중 운동체 위치 추정 장치(710)에 의해 추정될 수 있다. The distance (R) and the angle (R) and the angle (

) can be determined whether it is included within the scope of the Here, R means the maximum detonable linear distance between the underwater body position estimating device 710 and the underwater body 720, and W means the explosive amount of the underwater motion body position estimation device 710,

may correspond to an angle between a straight line connecting the underwater body 720 from the surface and the underwater body position estimation device 710 . R and

A value of may be estimated by the underwater body position estimation device 710 .

가 30˚이고, W가 TNT(Trinitrotoluene) 90lb인 경우, 임계값

= 0.02 가 될 수 있다. For example, if R is 400 ft,

is 30˚, and W is 90 lb of Trinitrotoluene (TNT), the threshold

= 0.02.

In one embodiment, the underwater moving body position estimating device 710 may calculate the impact strength of the underwater moving body position estimating device 710 based on the estimated position of the underwater moving body, and when the calculated impact strength is greater than or equal to the threshold Q The underwater body position estimating device 710 may be detonated, and when the calculated impact strength is less than or equal to the threshold Q, the underwater body position estimating device 710 may not be detonated.

8 is a block diagram of an apparatus for estimating a position of an underwater moving body according to an embodiment.

Referring to FIG. 8 , the apparatus 800 for estimating the position of an underwater body may include a posture sensor 810 , an acoustic sensor array 820 , and a position estimator 830 . Only the components related to the embodiment are shown in the apparatus 800 for estimating the position of the underwater moving body shown in FIG. 8 . Accordingly, it can be understood by those skilled in the art that other general-purpose components may be further included in addition to the components shown in FIG. 8 .

In one embodiment, the underwater body position estimation apparatus 800 may further include a memory. The memory may refer to hardware for storing various data processed in the apparatus 800 for estimating the position of the underwater vehicle. For example, the memory may store the azimuth of the underwater body estimated by the acoustic sensor array 820 , information about the posture measured by the posture sensor 810 , and the like. Memory includes random access memory (RAM), such as dynamic random access memory (DRAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), CD-ROM, blue ray or other optical disk storage, a hard disk drive (HDD), a solid state drive (SSD), or flash memory.

The position estimating unit 830 performs an overall function for estimating the position of the underwater movement body, as described above with reference to FIGS. 1 to 7 , and determining whether to detonate.

In an embodiment, the position estimator 830 uses the posture sensor 810 to use an acoustic sensor array to be used to estimate the position of an underwater body among a plurality of acoustic sensor arrays attached to the underwater body position estimator 800 . 820 may be selected, the azimuth of the underwater vehicle may be estimated using the selected acoustic sensor array 820 , and the estimated azimuth may be corrected and the position of the underwater vehicle may be estimated using the posture sensor 810 . In addition, the position estimator 830 may calculate the impact strength of the mine, which is the underwater body position estimating device 800 , based on the estimated position of the underwater body, and determines whether the mine is detonated using the calculated impact strength. can do.

The present embodiments may also be implemented in the form of a recording medium in which a program such as a program module executed by a computer is recorded. Computer-readable media can be any available media that can be accessed by a computer and includes both volatile and nonvolatile media, removable and non-removable media. Also, computer-readable media may include both computer storage media and communication media. Computer storage media includes both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Communication media typically includes computer readable instructions, data structures, other data in modulated data signals, such as program modules, or other transport mechanisms, and includes any information delivery media.

Also, in this specification, "unit" may be a hardware component such as a processor or circuit, and/or a software component executed by a hardware component such as a processor.

The description of the present specification described above is for illustration, and those of ordinary skill in the art to which the content of this specification belongs will understand that it can be easily modified into other specific forms without changing the technical spirit or essential features of the present invention. will be able Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive. For example, each component described as a single type may be implemented in a dispersed form, and likewise components described as distributed may be implemented in a combined form.

The description of the above-described embodiments is merely exemplary, and it will be understood by those skilled in the art that various modifications and equivalent other embodiments are possible therefrom. Accordingly, the true scope of protection of the invention should be defined by the appended claims, and all differences within the scope of equivalents to those described in the claims should be construed as being included in the protection scope defined by the claims.

210: Existing underwater body position estimating device 600: Underwater body position estimation device
220: single acoustic sensor 610: acoustic sensor array
300: water body position estimation device 620: posture sensor
310: acoustic sensor arrangement 630: water body indicated by a dotted line
320: attitude sensor 640: water body indicated by a solid line
400: acoustic sensor arrangement 710: water body position estimation device
410: acoustic sensor 1 720: water body
420: acoustic sensor 2 800: underwater body position estimation device 430: acoustic sensor 3 810: attitude sensor
500: acoustic sensor array 820: acoustic sensor array
510: acoustic sensors arranged in the a-axis direction 830: location estimation unit
520: acoustic sensors arranged in the b-axis direction

Claims (13)

In the method for estimating the position of the underwater body,
selecting an acoustic sensor array to be used for estimating the position of the underwater vehicle from among a plurality of acoustic sensor arrays attached to the mine using a posture sensor mounted on the mine;
estimating the azimuth of the underwater vehicle by using the selected acoustic sensor arrangement; and
Using the posture sensor, correcting the estimated azimuth and estimating the position of the underwater vehicle; Containing, an underwater movement body position estimation method. The method of claim 1,
The posture sensor is
A method for estimating an underwater body position, including a gyro sensor. The method of claim 1,
The step of selecting the acoustic sensor arrangement comprises:
Using the posture sensor to select the acoustic sensor array in a direction toward the water surface, an underwater body position estimation method. The method of claim 1,
The plurality of acoustic sensor arrays,
Attached around the body of the mine, the underwater vehicle position estimation method. The method of claim 1,
The acoustic sensor arrangement is
A method for estimating an underwater body position, comprising: a plurality of acoustic sensors for receiving an acoustic signal, wherein the plurality of acoustic sensors are arranged in a line in at least two or more directions of each axis. 6. The method of claim 5,
The step of estimating the azimuth is,
In the acoustic sensor array, each of the acoustic sensors measures symmetrical azimuths with respect to each axis arranged in a line, and the azimuth angle at which the measured azimuth angles coincide with each other is estimated as the azimuth of the underwater body. . The method of claim 1,
The step of estimating the position is
Using the roll, pitch, yaw, and depth of the mine measured by the attitude sensor, correcting the estimated azimuth and tracking the position of the underwater body. The method of claim 1,
calculating an impact strength of the mine based on the estimated position of the underwater vehicle; and
Using the calculated impact strength, determining whether the mine is detonated; further comprising, an underwater body position estimation method. 9. The method of claim 8,
The step of determining whether the detonation is,
When the calculated impact strength is equal to or greater than the threshold value, the mine is detonated, and when the calculated impact strength is less than or equal to the threshold value, the mine is not detonated. 10. The method of claim 9,
The threshold value is calculated according to the following equation, the underwater body position estimation method.
[Equation]
threshold

(Here, R means the maximum linear distance that can be detonated between the mine and the underwater vehicle, and W means the explosive amount of the mine, and the

means the angle between the water surface and the straight line connecting the underwater vehicle from the mine) A recording medium recording a program for executing the method according to any one of claims 1 to 10 in a computer. In the apparatus for estimating the position of the underwater movement,
an attitude sensor mounted on a mine to measure attitude;
a plurality of acoustic sensor arrays attached to the mine to receive an acoustic signal; and
Including; a position estimator for estimating the position of the underwater movement body;
The location estimation unit,
selecting an acoustic sensor array to be used for estimating the position of the underwater body among the plurality of acoustic sensor arrays using the posture sensor;
estimating the azimuth of the underwater vehicle using the selected acoustic sensor array,
Using the posture sensor, correcting the estimated azimuth and estimating the position of the underwater vehicle, an underwater movement body position estimation device. 13. The method of claim 12,
The location estimation unit,
Calculate the impact strength of the mine on the basis of the estimated position of the underwater moving body,
Using the calculated impact strength, determining whether to detonate the mine, an underwater body position estimation device.

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