KR20230040617A - Integrated intercepted signal processing apparatus, system with the same and integrated intercepted signal processing method - Google Patents

Abstract

According to various embodiments of the present invention, since redundant calculations for the same waterproof signal are eliminated, the amount of calculation is small, and an information processor, an intermediate controller, is unnecessary by applying an integrated waterproof signal processing device, a system including the same, and an integrated waterproof signal processing method, to integrate the signal processing performed by multiple sonars, so the effects of information processor failure and unavailability can be excluded, and configuration management and maintenance are easy. Additionally, according to various embodiments of the present invention, processing time is saved and operational efficiency is maximized by applying the integrated waterproof signal processing device, the system including it, and the integrated waterproof signal processing method, the control and linkage algorithm is simplified by eliminating the information processor, which is an intermediate controller between the operator and the signal processing device, and compared to operating three types of sonar independently, waterproof signal processing performance can be improved by operating CAS, which has excellent omnidirectional detection performance, and PRS and IDRS, which are capable of rangefinding, in combination.

Description

Integrated waterproof signal processing device, system including the same and integrated waterproof signal processing method {INTEGRATED INTERCEPTED SIGNAL PROCESSING APPARATUS, SYSTEM WITH THE SAME AND INTEGRATED INTERCEPTED SIGNAL PROCESSING METHOD}

The present invention relates to an integrated waterproof signal processing device, a system including the same, and an integrated waterproof signal processing method.

The information described in this section simply provides background information on the embodiments of the present invention and does not constitute prior art.

In general, submarine waterproof signal processing detects, analyzes, and tracks waterproof signals emitted from enemy ships, sonobuoys, torpedoes, etc. Detection and Ranging Sonar)) is used. More specifically, it is a structure that independently performs waterproofing signal processing in three types of submarine sonar and provides one waterproofing signal processing result to the operator by fusing detection, analysis, and tracking information in the later information processor.

In this structure, three types of sonars repeatedly perform signal processing for one waterproof signal, resulting in unnecessary calculations, and the algorithm is complicated because the information processor, which is an intermediate controller, is absolutely necessary in the control / interworking between the operator and the signal processor. there is

In addition, there is a problem that the operation and performance are limited due to the failure and unavailability of the information processor, which is an intermediate controller.

In addition, it is impossible to calculate the target’s distance if the PRS (Passive Ranging Sonar) or IDRS (Intercept Detection and Ranging Sonar), which has a ranging function, cannot detect the target even if the CAS, which has excellent omnidirectional detection, except for some parts of the stern, detects the target. There is a problem with that.

The object to be achieved by the present invention is to reduce the amount of calculation because redundant calculations for the same waterproof signal are eliminated through integrated signal processing of the signal processing performed by a plurality of sonars, and the information processor, which is an intermediate controller, is unnecessary, resulting in failure and cost of the information processor. It is to provide an integrated waterproof signal processing device that can exclude the influence of water and the like and is easy to manage and maintain, a system including the same, and an integrated waterproof signal processing method.

In addition, the object to be achieved by the present invention is to simplify the algorithm of control and linkage by removing the information processor, which is an intermediate controller between the operator and the signal processing device, to save processing time and maximize operational efficiency, and to operate three types of sonar independently. It is to provide an integrated waterproof signal processing device with improved waterproof signal processing performance, a system including the same, and an integrated waterproof signal processing method by complexly operating CAS, which has excellent omnidirectional detection performance, and PRS and IDRS capable of ranging, compared to operation with a .

Other non-specified objects of the present invention may be additionally considered within the scope that can be easily inferred from the following detailed description and effects thereof.

An integrated waterproof signal processing device that works with a plurality of sensors according to an embodiment of the present invention for achieving the above object receives signals acquired by the plurality of sensors to generate data, and generates a waterproof signal based on the data. A waterproof signal detection unit that detects and generates a plurality of detection information based on the waterproof signal, a fusion processing unit that fuses the plurality of detection information to generate convergence detection information, and the detection target based on the convergence detection information. A detection target waterproof signal analysis unit that analyzes the location and calculates analysis information, a detection target waterproof signal tracking unit that tracks the detection target and calculates tracking information based on the analysis information, and operates the detection information, analysis information, and tracking information. It includes a communication module that transmits to the terminal.

Here, the convergence processing unit generates temporary detection information by merging the plurality of detection information, sorts the temporary detection information in chronological order, and generates temporary detection information of a specific sequence as new detection information serving as a criterion for convergence; , Convergence detection information is generated by fusing the temporary detection information and the new detection information according to whether or not they meet a preset convergence condition.

Here, the fusion processing unit updates the new detection information by adding information included in the temporary detection information to the new detection information when the temporary detection information and the new detection information meet a predetermined fusion condition. to be

Here, the convergence processing unit deletes the temporary detection information matching the new detection information and the new detection information when the new detection information is updated because the temporary detection information and the new detection information meet a predetermined fusion condition. It is characterized by doing.

Here, the convergence processing unit is characterized in that if the temporary detection information and the new detection information do not meet a predetermined fusion condition, the temporary detection information is maintained as it is.

Here, the waterproof signal analysis unit assigns the convergence detection information to an analysis channel, and analyzes the position of the detection target and the pulse of the detection target included in the analysis channel based on the information included in the analysis channel to perform the analysis. It is characterized by calculating information.

Here, the waterproof signal analysis unit is characterized in that when the fusion detection information matches the analysis channel, it updates the analysis channel based on the fusion detection information.

Here, the waterproof signal analysis unit is characterized in that if the convergence detection information does not match the analysis channel, the convergence detection information is allocated to a new analysis channel.

According to an embodiment of the present invention for achieving the above object, an integrated waterproof signal processing method performed by an integrated waterproof signal processing device includes the steps of receiving an underwater acoustic signal by at least one sensor, and receiving the signal to generate data. generating and detecting a waterproof signal based on the data, generating a plurality of detection information based on the waterproof signal, generating convergence detection information by converging the plurality of detection information, the convergence detection information It is characterized in that it comprises the step of analyzing the location of the detection target based on the step of calculating analysis information and the step of generating tracking information by tracking the detection target based on the analysis information.

Here, the step of fusing the plurality of detection information to generate convergence detection information includes merging the plurality of detection information to generate temporary detection information, and arranging the temporary detection information in chronological order to temporarily detect information in a specific order. Is generated as new detection information that is a criterion for convergence, and convergence detection information is generated by fusing the temporary detection information and the new detection information according to whether or not they meet a preset convergence condition.

Here, in the step of fusing the plurality of detection information to generate convergence detection information, when the temporary detection information and the new detection information meet a predetermined fusion condition, the information included in the temporary detection information is changed to the new detection information. In addition to, it is characterized in that the new detection information is updated.

According to an embodiment of the present invention for achieving the above object, an integrated waterproof signal processing system includes a signal receiving device including a plurality of sensors for receiving underwater sound signals, The operation terminal for operating the integrated waterproof signal processing device and the signal receiving device receive the acquired signal to generate data, detect the waterproof signal based on the data, and generate a plurality of detection information based on the waterproof signal. generating, converging the plurality of detection information to generate convergence detection information, analyzing the location of the detection target based on the convergence detection information to calculate analysis information, and tracking the detection target based on the analysis information It is characterized in that it includes an integrated waterproof signal processing device for generating tracking information.

Here, the integrated waterproofing signal processing device generates temporary detection information by merging the plurality of detection information, and arranges the temporary detection information in chronological order to convert temporary detection information of a specific sequence into new detection information serving as a criterion for convergence. and generating convergence detection information by fusing the temporary detection information and the new detection information according to whether or not they meet preset convergence conditions.

As described above, according to an embodiment of the present invention, by applying the integrated waterproof signal processing device, the system including the same, and the integrated waterproof signal processing method, the signal processing performed in a plurality of sonars is integrated and the same waterproof signal is processed. Because the redundant calculation for is removed, the amount of calculation is small, and the information processor, which is an intermediate controller, is unnecessary, so the effects of failure and unavailability of the information processor can be excluded, and configuration management and maintenance can be facilitated.

In addition, according to an embodiment of the present invention, by applying an integrated waterproof signal processing device, a system including the same, and an integrated waterproof signal processing method, the information processor, which is an intermediate controller between the operator and the signal processing device, is removed, and the algorithm of control and interlocking This simplification saves processing time and maximizes operational efficiency. Compared to independently operating multiple sonars, the waterproofing signal processing performance can be improved by operating CAS with excellent omnidirectional detection performance, PRS and IDRS that can measure in a complex manner. there is.

Even if the effects are not explicitly mentioned here, the effects described in the following specification expected by the technical features of the present invention and their provisional effects are treated as described in the specification of the present invention.

1 is a block diagram schematically showing the configuration of an integrated waterproof signal processing system according to an embodiment of the present invention.
2 is a block diagram for explaining the configuration of a processor of an integrated waterproof signal processing device according to an embodiment of the present invention.
3 is a flowchart illustrating an integrated waterproofing signal processing method according to an embodiment of the present invention.
4 is a flowchart for explaining in detail the step of fusing detection information in the integrated waterproofing signal processing method according to an embodiment of the present invention.
5 is a flowchart for explaining in detail the step of analyzing the detected waterproof signal in the integrated waterproof signal processing method according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. Advantages and features of the present invention, and methods for achieving them, will become clear with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below and may be implemented in various different forms, only the present embodiments make the disclosure of the present invention complete, and the common knowledge in the art to which the present invention belongs It is provided to fully inform the holder of the scope of the invention, and the present invention is only defined by the scope of the claims. Like reference numbers designate like elements throughout the specification.

Unless otherwise defined, all terms (including technical and scientific terms) used in this specification may be used in a meaning commonly understood by those of ordinary skill in the art to which the present invention belongs. In addition, terms defined in commonly used dictionaries are not interpreted ideally or excessively unless explicitly specifically defined.

In this specification, terms such as "first" and "second" are used to distinguish one component from another component, and the scope of rights should not be limited by these terms. For example, a first element may be termed a second element, and similarly, a second element may be termed a first element.

In this specification, identification codes (eg, a, b, c, etc.) for each step are used for convenience of explanation, and identification codes do not describe the order of each step, and each step is clearly Unless a specific order is specified, it may occur in a different order from the specified order. That is, each step may occur in the same order as specified, may be performed substantially simultaneously, or may be performed in the reverse order.

In this specification, expressions such as "has", "may have", "includes" or "may include" indicate the existence of a corresponding feature (eg, numerical value, function, operation, or component such as a part). indicated, and does not preclude the presence of additional features.

In addition, the term '~unit' described in this specification means software or a hardware component such as a field-programmable gate array (FPGA) or ASIC, and '~unit' performs certain roles. However, '~ part' is not limited to software or hardware. '~bu' may be configured to be in an addressable storage medium and may be configured to reproduce one or more processors. Therefore, as an example, '~unit' refers to components such as software components, object-oriented software components, class components, and task components, processes, functions, properties, and procedures. , subroutines, segments of program code, drivers, firmware, microcode, circuitry, data structures and variables. Functions provided within components and '~units' may be combined into smaller numbers of components and '~units' or further separated into additional components and '~units'.

Hereinafter, an integrated waterproof signal processing device according to various embodiments of the present invention, a system including the same, and an integrated waterproof signal processing method will be described in detail with reference to the accompanying drawings.

In the prior art, after signal processing is performed for each sonar, convergence is performed in an information processor based on tracking information, so CAS (Cylindrical Array Sonar) detects a target and calculates target distance with PRS (Passive Ranging Sonar) and IDRS ( Intercept Detection and Ranging Sonar) has a problem that it is impossible to calculate the distance of the target if it is not detected.

According to an embodiment of the present invention, the integrated waterproof signal processing device 200 performs complex signal processing of three types of sensor data, so that the performance as an integrated waterproof sonar is improved over the conventional waterproof signal processing technology using three types of sonars independently. has the effect of

According to an embodiment of the present invention, in addition to the detected waterproofing signal, tracking information may be newly generated through operator intervention without intermediate control of the information processor. In addition, it is easy to manage the maximum number of tracking channels and tracking channels for torpedo warning by integrated signal processing of signals acquired from three types of sensors. In addition, it is easy to manage the maximum number of tracking channels by utilizing the convergence result at the beginning.

In addition, rapid processing is possible as it directly interworks with the operator except for information processing, and the algorithm is simplified in creating a new tracking channel due to operator intervention and managing the tracking channel for torpedo warning.

1 is a block diagram schematically showing the configuration of an integrated waterproof signal processing system according to an embodiment of the present invention. Referring to FIG. 1 , the integrated waterproof signal processing system 10 may include a signal receiving device 100, an integrated waterproof signal processing device 200, and an operation terminal 300.

The signal receiving device 100 may include a plurality of sensors. According to an embodiment of the present invention, the signal receiving device 100 may include a first sensor 110-1, a second sensor 110-2, and a third sensor 110-3. The first sensor 110-1 may be a Cylindrical Hydrophone Array (CHA) sensor. The second sensor 110 - 2 may be a passive ranging array (PRA) sensor. The third sensor 110 - 3 may be an Intercept Detection and Ranging Array (IDRA) sensor.

The first sensor 110-1 receives signals in a mid-frequency (approximately 7 kHz to 15 kHz) band and can perform omnidirectional detection according to the shape of the sensor. The second sensor 110-2 has the same reception frequency band as the first sensor 110-1, and range measurement is possible according to the shape of the sensor. The third sensor 110-3 receives a signal of a high frequency (approximately 10 kHz or more) band, and may partially overlap the reception frequency band of the first sensor 110-1 and the second sensor 110-2. . The third sensor 110-3 can perform distance measurement using the sensor arrangement and sensor interval.

The first sensor 110-1 can perform omnidirectional detection according to the shape of the sensor. The second sensor 110-2 can measure objects detected from port/starboard according to the shape of the sensor, and the third sensor 110-3 can measure objects detected except for the stern according to the shape of the sensor. do.

In the case of the proposed invention, the beam data of the second sensor 110-2 and the third sensor 110-3 or There is an effect that it is possible to calculate the distance of the target by extracting the sensor data. In addition, when the three types of sonar are operated independently, there is a problem in that the waterproof signal cannot be detected from the beginning because undetected areas are generated depending on the installation location. In the case of the present invention, there is an effect of improving detection performance by compensating for undetected regions between sensors by using three types of sensor data in a complex manner.

The signal receiving device 100 may transmit the received underwater sound signal to the integrated waterproof signal processing device 200.

Referring to FIG. 1 , the integrated waterproof signal processing device 200 may include a processor 210, a communication module 320 and a memory 230. All blocks shown in FIG. 1 are not essential components, and in other embodiments, some blocks connected to the integrated waterproof signal processing system 10 may be added, changed, or deleted.

The integrated waterproof signal processing device 200 may be used in conjunction with the signal receiving device 100 and the operation terminal 300.

The processor 210 may implement an integrated waterproof signal processing method according to various embodiments of the present invention. The processor 210 may include an Application-Specific Integrated Circuit (ASIC), other chipsets, logic circuits, and/or data processing devices.

The processor 210 detects each waterproof signal from the underwater acoustic signals acquired by the signal receiving device 100, generates a plurality of detection information, fuses the plurality of detection information, and analyzes and detects pulses based on the fused information. It analyzes the location information of the target and can track the detection target. The processor 210 will be described in more detail in FIG. 2 .

The communication module 220 may receive data generated by the signal receiving device 100 . In addition, waterproof signal detection, analysis, and tracking information generated by the processor 210 may be transmitted to the operation module 300 .

The communication module 220 may transmit waterproof signal detection, analysis, and tracking information to the operation terminal 300 at a period preset by an operator.

The memory 230 may store an integrated waterproof signal processing device according to various embodiments of the present invention, a system including the same, and an algorithm for implementing the integrated waterproof signal processing method. The memory 230 may include read only memory (ROM), random access memory (RAM), flash memory, a memory card, a storage medium, and/or other storage devices. When the embodiment is implemented as software, the above-described technique may be implemented as a module (process, function, etc.) that performs the above-described functions. The memory 230 may be internal or external to the processor 210 and may be coupled with the processor 210 by various well-known means.

The operation terminal 300 is a display device that receives waterproof signal detection, analysis, and tracking information calculated by the integrated waterproof signal processing device 200 and provides information to the operator. The operation terminal 300 may transmit the signal processing control value input by the operator to the integrated waterproof signal processing device 200 . The operating terminal 300 may be a mobile phone, a computer, or a navigation device including instructions or techniques for operating a digital device. The processor (not shown) of the operation terminal 300 is a microprocessor, controller, other suitable computing device or other components of the integrated waterproof signal processing device 200, which is a function of such a mobile device, or operable hardware, stored software and / or an encoded logic combination. In particular, the operation terminal 300 and the integrated waterproof signal processing device 200 may use multiple processors to perform the functions described herein.

2 is a block diagram for explaining the configuration of a processor of an integrated waterproof signal processing device according to an embodiment of the present invention.

Referring to FIG. 2, the processor 210 of the integrated waterproof signal processing device 200 includes a waterproof signal detection unit 211, a fusion processing unit 212, a waterproof signal analyzer 213 and a waterproof signal tracking unit 214. can include All blocks shown in FIG. 2 are not essential components, and some blocks included in the processor 210 of the integrated waterproof signal processing device 200 may be added, changed, or deleted in another embodiment.

On the other hand, in FIG. 2, the components of the waterproof signal detection unit 211, the fusion processing unit 212, the waterproof signal analyzer 213, and the waterproof signal tracking unit 214 are described as being included in the processor 210, but must be It is not limited, and may be included in the device of the integrated waterproof signal processing device 200 and connected to the processor 210 by various well-known means.

The waterproof signal detector 211 receives the three types of sensor data transmitted by the signal receiving device 100 and performs beam forming or DC removal according to each sensor characteristic to generate three types of beam data or sensor data. can

The waterproof signal detector 211 may detect N waterproof signals (where N is a natural number equal to or greater than 1) based on three types of beam data or sensor data. The waterproof signal detector 211 may generate a plurality of pieces of detection information based on the detected waterproof signal. The waterproof signal detection unit 211 generates a plurality of pieces of detection information based on one detected waterproof signal. That is, when the waterproof signal detector 211 detects N number of waterproof signals, the waterproof signal detector 211 generates (the number of sensors 110 (eg, 3) x N) pieces of detection information. can do. The detection information includes information such as detected sensor 110 information, detection time, beam data or sensor data, and frequency.

The waterproof signal detection unit 211 transfers the generated detection information to the convergence processing unit 212.

The convergence processing unit 212 may generate convergence detection information by fusing a plurality of detection information transmitted by the waterproof signal detection unit 211 .

The convergence processing unit 212 may generate temporary detection information by merging a plurality of detection information. According to an embodiment of the present invention, when the signal receiving device 100 includes the first sensor 110-1, the second sensor 110-2 and the third sensor 110-3, waterproof signal detection Up to 3xN pieces of temporary detection information are generated from the (total, 3xN) pieces of detection information generated by the unit 211.

The convergence processing unit 212 may arrange the temporary detection information in chronological order. According to an embodiment of the present invention, temporary detection information may be generated in the form of a list sorted in chronological order.

The convergence processing unit 212 merges and fuses (the number of sensors 110 x N) pieces of detection information until finally N pieces of fusion detection information are generated. The convergence processing unit 212 may generate up to N convergence detection information. The convergence processing unit 212 may check whether N pieces of convergence detection information are generated. When N convergence detection information is generated, temporary detection information that has not yet been converged within the processing cycle of the waterproof signal detection unit 211 is deleted.

Subsequently, if the fusion processing unit 212 has not generated N pieces of fusion detection information, the fusion processing unit 212 may generate new detection information. More specifically, temporary detection information of a specific sequence among temporary detection information arranged in chronological order may be generated as new detection information serving as a criterion for convergence.

According to an embodiment of the present invention, the convergence processing unit 212 may generate new detection information, which is a criterion for convergence, in the order in which temporary detection information is arranged in chronological order. More specifically, the convergence processing unit 212 may generate a temporary detection information list in which temporary detection information is arranged in chronological order. The convergence processing unit 212 may generate temporary detection information having the highest order in the temporary detection information list as new detection information. New detection information may become a target of convergence in the process of converging new detection information and temporary detection information.

The convergence processing unit 212 sequentially compares the temporary detection information generated as new detection information in the temporary detection information list, that is, the temporary detection information excluding the temporary detection information located at the top of the list, to determine whether they are information on the same detection target. can judge

If the new detection information and the temporary detection information located second in the list are information on the same detection target, the new detection information and the temporary detection information are stored as convergence detection information. Here, new detection information is updated based on the temporary detection information located second in the list and stored as convergence detection information, and the temporary detection information located second in the list is deleted from the temporary detection information list. Subsequently, the convergence processing unit 212 may sequentially determine whether the temporary detection information located in the third or lower position in the list is information acquired from the same detection target as the convergence detection information.

On the other hand, the convergence processing unit 212 sequentially compares the new detection information and the temporary detection information located in the third or lower position in the list when the new detection information and the temporary detection information located second in the list are not information on the same detection target. Thus, it is possible to determine whether the information is for the same detection target.

The convergence processing unit 212 may repeat an operation of comparing new detection information and all temporary detection information included in the temporary detection information list in the order located at the top of the list to determine whether each of them is information on the same detection target. .

After the process of creating the temporary detection information with the highest sequence number in the temporary detection information list as new detection information and creating convergence detection information is completed, the temporary detection information with the highest sequence number among the temporary detection information remaining in the temporary detection information list. It is possible to repeat the above operation by generating new detection information.

According to an embodiment of the present invention, the convergence processing unit 212 determines whether the new detection information and the temporary detection information meet a preset convergence condition for the new detection information and the temporary detection information for the same detection target. information can be determined. More specifically, a step of searching for temporary detection information that satisfies a convergence condition predetermined by an operator based on the new detection information and a specific bearing difference and frequency ratio may be performed. The convergence condition includes an azimuth convergence condition and a frequency convergence condition, and both conditions must be satisfied to satisfy the convergence condition.

The azimuth convergence condition is a condition for confirming whether the difference between the bearing of the detection target included in the new detection information and the bearing of the detection target included in the temporary detection information is equal to or less than a predetermined value determined by the operator. If the difference between the bearing of the detection target included in the new detection information and the bearing of the detection target included in the provisional detection information is less than a predetermined value determined by the operator, the condition for azimuth convergence is satisfied.

For example, if the difference between the bearing of the detection target included in the new detection information and the bearing of the detection target included in the temporary detection information is less than 5 degrees, the temporary detection information may be determined to meet the new detection information and the azimuth convergence condition. .

The frequency convergence condition is a condition for confirming whether the ratio of the frequency of the detection target included in the new detection information and the frequency of the detection target included in the temporary detection information is within a range predetermined by the operator. If the ratio of the frequency of the detection target included in the new detection information and the frequency of the detection target included in the temporary detection information is within the range predetermined by the operator, the frequency convergence condition is satisfied.

For example, if the ratio of the frequency included in the new detection information and the frequency included in the temporary detection information has a value between 1.05 and 1.1, it can be determined that the new detection information and the frequency convergence condition match the temporary detection information.

When the temporary detection information and the new detection information meet the convergence condition, the convergence processing unit 212 updates the new detection information by adding the information included in the temporary detection information to the new detection information, and the temporary detection information is stored in the temporary detection information list. can be deleted Updating the new detection information may mean including information of the sensor 110 included in the temporary detection information and beam data or sensor data of the corresponding sensor 110 in the new detection information.

According to an embodiment of the present invention, when the temporary detection information and the new detection information do not meet predetermined fusion conditions, the fusion processing unit 212 maintains the temporary detection information that does not meet the fusion conditions as it is, and up to N fusions. The above operation may be repeatedly performed until detection information is generated. After a maximum of N convergence detection information is generated, all temporary detection information that is not converged may be deleted.

The fusion processing unit 212 may transmit the generated fusion detection information to the waterproof signal analysis unit 213 .

The waterproof signal analyzer 213 may calculate the analysis information by analyzing the pulse analysis and the position of the detection target based on the fusion detection information generated by the fusion processing unit 212 . More specifically, the analysis information may be calculated by analyzing the generation position and pulse information of the waterproof signal using the detection time and accumulated beam or sensor data included in the convergence detection information.

The waterproof signal analyzer 213 may allocate an analysis channel based on the convergence detection information.

According to an embodiment of the present invention, the signal receiving device 100 may obtain an underwater acoustic signal in real time. The waterproof signal detector 311 may generate beam data or sensor data in real time based on the signal acquired by the signal receiving device 100, detect the waterproof signal in real time, and generate detection information. Subsequently, the convergence processing unit 212 may fuse the detection information generated by the waterproof signal detection unit 211 to generate convergence detection information in real time. The generated fusion detection information may be transmitted to the waterproof signal analyzer 213 .

The waterproof signal analyzer 213 may allocate the convergence detection information transmitted to the waterproof signal analyzer 213 as an analysis channel. More specifically, the waterproof signal analyzer 213 may determine whether the convergence detection information transmitted to the waterproof signal analyzer 213 matches an existing analysis channel. The waterproof signal analyzer 213 updates the matched analysis channel by assigning it to the existing analysis channel when the convergence detection information transmitted to the waterproof signal analyzer 213 matches the existing convergence detection information allocated to the analysis channel. can do.

The waterproof signal analyzer 213 allocates the unmatched fusion detection information to a new analysis channel when the convergence detection information transmitted to the waterproof signal analyzer 213 does not match the existing convergence detection information allocated to the analysis channel. can do.

The waterproof signal analyzer 213 may analyze the pulse emitted from the detection target and analyze the position of the detection target based on the valid information and the elapsed time included in the analysis channel. More specifically, based on the information included in the analysis channel, the location of the detection target and the pulse of the detected waterproof signal included in the analysis channel can be precisely analyzed. The waterproof signal analyzer 213 may generate analysis information using convergence detection information allocated to an analysis channel. The waterproof signal analyzer 213 precisely analyzes the pulse by selecting the beam data or sensor data of the sensor 110 with high resolution according to the situation based on the convergence detection information allocated to the analysis channel, and analyzes the pulse length, repetition period, Pulse analysis information such as frequency and bandwidth can be calculated.

When the waterproof signal analyzer 213 detects a detection target only with the beam data of the first sensor 110-1 that cannot measure, the second sensor 110-2 and the second sensor 110-2 that can measure based on the detection time and direction information. 3 By extracting beam data or sensor data from the sensor 110-3, it is possible to analyze the distance and direction of the detection target.

The waterproof signal analyzer 213 uses the detection time of the convergence detection information allocated to the analysis channel to detect beam data or sensor data of the second sensor 110-2 and the third sensor 110-3 capable of ranging. By extracting, it is possible to analyze the distance and direction of the detection target. The analysis information generated by collecting the pulse analysis information and the location analysis information of the detection target may be output to the waterproof signal tracking unit 314 .

The waterproof signal tracking unit 214 may calculate tracking information by tracking the detection target based on the analysis information generated by the waterproof signal analysis unit 213 . According to an embodiment of the present invention, the waterproof signal tracking unit 214 may calculate tracking information by creating a tracking channel.

Referring to FIG. 3, an integrated waterproofing signal processing method according to an embodiment of the present invention will be described.

The waterproofing signal processing method of the prior art independently operates a plurality of sonars and provides the result of the waterproofing signal processing fused in the information processing step to the operator. More specifically, a plurality of sonars perform waterproof signal processing in each signal processor, and are fused in an information processor serving as an intermediate control to provide information to the operator.

3 is a flowchart illustrating an integrated waterproofing signal processing method according to an embodiment of the present invention.

In step S100, the signal receiving device 100 of the integrated waterproof signal processing system 10 receives an underwater sound signal. According to an embodiment of the present invention, the three types of sensors 110 included in the signal receiving device 100 are acoustic signals from ambient noise and detection targets (eg, waterproof signals emitted from enemy ships, sonobuoys, or torpedoes). can be obtained.

In step S200, the integrated waterproof signal processing device 200 generates beam data or sensor data based on the signal received by the signal receiving device 100.

In step S300, the integrated waterproof signal processing device 200 detects a waterproof signal from beam data and sensor data and generates detection information.

In step S400, the integrated waterproof signal processing device 200 fuses a plurality of detection information to generate convergence detection information. The step of generating fusion detection information by the integrated waterproof signal processing device 200 will be described in detail in FIG. 4 .

In step S500, the integrated waterproof signal processing device 200 allocates an analysis channel based on the convergence detection information to precisely analyze the pulse and the distance, position and orientation of the detection target (eg, integrated waterproof signal processing device 200) The analysis information can be calculated by analyzing the distance and bearing). The step of analyzing the detection target by the integrated waterproof signal processing device 200 will be described in more detail with reference to FIG. 5 .

In step S600, the integrated waterproof signal processing device 200 may calculate tracking information by tracking the detection target based on the analysis information. More specifically, it performs a function of tracking the pulse signal emitted from the detection target included in the analysis information calculated by the waterproof signal analyzer 213 of the integrated waterproof signal processing device 200. Through tracking, it is possible to calculate tracking information including the bearing, distance, and frequency of signals emitted by the detection target.

4 is a flowchart for explaining in detail the step of fusing waterproof signals in the integrated waterproof signal processing method according to an embodiment of the present invention.

In step S410, the processor 210 generates temporary detection information by merging detection information generated respectively based on beam data or sensor data according to the three types of sensors 110.

In step S420, the processor 210 may arrange the temporary detection information in chronological order.

In step S430, the processor 210 may generate new detection information. More specifically, in step S420, temporary detection information of a specific sequence among temporary detection information arranged in chronological order may be generated as new detection information serving as a criterion for convergence. According to an embodiment of the present invention, temporary detection information arranged in chronological order may be named a temporary detection information list, and temporary detection information located at the top of the temporary detection information list may be designated as new detection information.

In step S440, the processor 210 may determine whether the temporary detection information and the new detection information meet a preset convergence condition. According to an embodiment of the present invention, it may be determined whether the temporary detection information located second in the temporary detection information list satisfies the fusion condition of the new detection information. When the provisional detection information and the new detection information meet preset fusion conditions, step S450 may be subsequently performed. When the temporary detection information and the new detection information do not meet the preset convergence condition, step S460 may be performed subsequently.

In step S450, the processor 210 may update the new detection information by adding information included in the temporary detection information to the new detection information to generate convergence detection information and delete the temporary detection information.

In step S460, the processor 210 may maintain the temporary detection information as it is when the temporary detection information and the new detection information do not meet a predetermined convergence condition. Subsequently, it may be determined whether the temporary detection information located in the next order of the temporary detection information list meets the convergence condition of the new detection information in sequence.

In step S470, the processor 210 may check whether a total of N convergence detection information is generated. The waterproof signal detection unit 211 may detect N (hereinafter, N is a natural number of 1 or more) waterproof signals based on the three types of sensors 110 . The waterproof signal detector 211 may generate a plurality of pieces of detection information based on the detected waterproof signal. The waterproof signal detector 211 may generate a total of (the number of sensors 110 x N) detection information. Therefore, since the maximum number of convergence detection information that the processor 210 can generate is also N, if the processor 210 has generated N convergence detection information, step S500 may be subsequently performed. If the processor 210 has not generated N convergence detection information, step S430 may be subsequently performed.

5 is a flowchart for explaining in detail the step of analyzing a waterproofing signal in the integrated waterproofing signal processing method according to an embodiment of the present invention.

In step S510, the processor 210 may receive convergence detection information according to the analysis period.

In step S520, the processor 210 may determine whether the received convergence detection information matches an existing analysis channel. In the first stage of analysis, since all analysis channels are in an unassigned state, there is no analysis channel that matches the convergence detection information. Accordingly, step S540 is performed and the convergence detection information is newly allocated to an analysis channel. If the convergence detection information matches the existing analysis channel, step S530 may be subsequently performed.

In step S530, the processor 210 may update the matched analysis channel based on the convergence detection information.

In step S540, the processor 210 may allocate convergence detection information to a new analysis channel.

In step S550, the processor 210 may analyze the position and pulse of the detection target using the detection time and beam or sensor data of the waterproof signal included in the analysis channel.

In step S560, the processor 210 may generate analysis information. More specifically, the processor 210 performs pulse analysis by selecting beam data or sensor data of a sensor with high resolution according to the situation based on the fusion detection information included in the analysis channel, and performs pulse length, repetition period, frequency and Pulse analysis information including information such as bandwidth can be calculated. In addition, by using the detection time of the convergence detection information, beam data or sensor data of the second sensor 110-2 and the third sensor 110-3 capable of ranging are extracted and the distance and direction of the detection target are analyzed and detected. Location analysis information of the target may be generated. The analysis information may be output to the waterproof signal tracking unit 214 by collecting the pulse analysis information and the distance and orientation analysis information of the detection target.

In FIGS. 3 to 5, it is described that each process is sequentially executed, but this is merely an example, and a person skilled in the art will refer to FIGS. 3 to 5 without departing from the essential characteristics of the embodiment of the present invention. Various modifications and variations may be applied by changing the order described, executing one or more processes in parallel, or adding another process.

Even though all components constituting the embodiments of the present invention described above are described as being combined or operated as one, the present invention is not necessarily limited to these embodiments. That is, within the scope of the object of the present invention, all of the components may be selectively combined with one or more to operate. In addition, although all of the components may be implemented as a single independent piece of hardware, some or all of the components are selectively combined to perform some or all of the combined functions in one or a plurality of pieces of hardware. It may be implemented as a computer program having. In addition, such a computer program may implement an embodiment of the present invention by being stored in a computer readable medium such as a USB memory, a CD disk, or a flash memory and read and executed by a computer. A recording medium of a computer program may include a magnetic recording medium, an optical recording medium, and the like.

The above description is merely an example of the technical idea of the present invention, and those skilled in the art can make various modifications, changes, and substitutions without departing from the essential characteristics of the present invention. will be. Therefore, the embodiments disclosed in the present invention and the accompanying drawings are not intended to limit the technical idea of the present invention, but to explain, and the scope of the technical idea of the present invention is not limited by these embodiments and the accompanying drawings. . The protection scope of the present invention should be construed according to the following claims, and all technical ideas within the equivalent range should be construed as being included in the scope of the present invention.

10: Integrated waterproof signal processing system.
100: signal receiving device
200: integrated waterproof signal processing device
210: processor
211: waterproof signal detection unit
212: fusion processing unit
213: waterproof signal analysis unit
214: waterproof signal tracking unit
220: communication module
230: memory
300: operation terminal

Claims (13)

In the integrated waterproof signal processing device interworking with a plurality of sensors,
a waterproof signal detection unit for generating data by receiving signals obtained by the plurality of sensors, detecting a waterproof signal based on the data, and generating a plurality of detection information based on the waterproof signal;
a convergence processing unit generating convergence detection information by fusing the plurality of detection information;
a detection target waterproof signal analysis unit for calculating analysis information by analyzing the location of the detection target based on the convergence detection information;
a detection target waterproof signal tracking unit that tracks a detection target based on the analysis information and calculates tracking information; and
An integrated waterproof signal processing device including a communication module for transmitting the detection information, analysis information, and tracking information to an operating terminal. According to claim 1,
The fusion processing unit,
Generating temporary detection information by merging the plurality of detection information;
Arranging the temporary detection information in chronological order to generate temporary detection information of a specific sequence as new detection information that is a criterion for convergence;
An integrated waterproof signal processing device characterized in that the temporary detection information and the new detection information are fused according to whether or not they meet a preset fusion condition to generate fusion detection information. According to claim 2,
The fusion processing unit,
When the temporary detection information and the new detection information meet a predetermined convergence condition, the new detection information is updated by adding information included in the temporary detection information to the new detection information. . According to claim 3,
The fusion processing unit,
When the temporary detection information and the new detection information meet a predetermined convergence condition and the new detection information is updated, the temporary detection information matching the new detection information and the convergence condition is deleted. signal processing device. According to claim 2,
The fusion processing unit,
An integrated waterproof signal processing device characterized in that the temporary detection information is maintained as it is when the temporary detection information and the new detection information do not meet a predetermined convergence condition. According to claim 1,
The waterproof signal analysis unit,
Allocating the fusion detection information to an analysis channel;
Based on the information included in the analysis channel, the integrated waterproof signal processing device, characterized in that for calculating the analysis information by analyzing the position of the detection target and the pulse of the detection target included in the analysis channel. According to claim 6,
The waterproof signal analysis unit,
When the fusion detection information matches the analysis channel, the integrated waterproof signal processing device, characterized in that for updating the analysis channel based on the fusion detection information. According to claim 6,
The waterproof signal analysis unit,
An integrated waterproof signal processing device, characterized in that allocating the convergence detection information to a new analysis channel when the convergence detection information does not match the analysis channel. In the integrated waterproof signal processing method performed by the integrated waterproof signal processing device,
receiving, by at least one sensor, an underwater acoustic signal;
receiving the signal to generate data, and detecting a waterproof signal based on the data;
Generating a plurality of detection information based on the waterproof signal;
Generating convergence detection information by fusing the plurality of detection information;
Calculating analysis information by analyzing the location of the detection target based on the convergence detection information; and
An integrated waterproof signal processing method comprising the step of generating tracking information by tracking the detection target based on the analysis information. According to claim 9,
The step of fusing the plurality of detection information to generate fusion detection information,
Generating temporary detection information by merging the plurality of detection information;
Arranging the temporary detection information in chronological order to generate temporary detection information of a specific sequence as new detection information that is a criterion for convergence;
An integrated waterproof signal processing method characterized in that the temporary detection information and the new detection information are fused according to whether or not they meet a preset fusion condition to generate fusion detection information. According to claim 10,
The step of fusing the plurality of detection information to generate fusion detection information,
When the temporary detection information and the new detection information meet a predetermined convergence condition, the new detection information is updated by adding information included in the temporary detection information to the new detection information. . A signal receiving device including a plurality of sensors for receiving underwater acoustic signals;
An operating terminal for operating an integrated waterproof signal processing device; and
The signal receiving device receives the acquired signal to generate data, detects a waterproof signal based on the data, generates a plurality of detection information based on the waterproof signal, and fuses and fuses the plurality of detection information. Includes an integrated waterproof signal processing device that generates detection information, calculates analysis information by analyzing the location of the detection target based on the convergence detection information, and generates tracking information by tracking the detection target based on the analysis information. An integrated waterproof signal processing system, characterized in that. According to claim 12,
The integrated waterproof signal processing device,
Generating temporary detection information by merging the plurality of detection information;
Arranging the temporary detection information in chronological order to generate temporary detection information of a specific sequence as new detection information that is a criterion for convergence;
An integrated waterproof signal processing system characterized in that the temporary detection information and the new detection information are fused according to whether or not they meet a preset fusion condition to generate fusion detection information.

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