TR2021014965A2 - TOWED COMMUNICATION AND OBSERVATION VEHICLE FOR UNDERWATER SYSTEMS - Google Patents

Abstract

The invention relates to a towed communication and observation vehicle that enables underwater vehicles to communicate, position and observe without coming up/approaching the water surface.

Description

DESCRIPTION TOWED COMMUNICATION AND OBSERVATION VEHICLE FOR UNDERWATER SYSTEMS Technical field of invention: The invention means that underwater vehicles can communicate without approaching/approaching the water surface. a towed communication system that enables positioning and observation, and related to the observation tool.

In particular, the invention relates to an underwater vehicle that is connected to the underwater vehicle by a cable and is positioned on the water surface. It is about towed communication and observation vehicle for underwater systems.

Known state of the technique: Communication for underwater vehicles presents many technical difficulties, but to a lesser extent. It is an important ability. Electromagnetic signals underwater at very short distance they lose their energy. For this reason, communication with electromagnetic signals it is only possible with an antenna that can be raised above the water surface.

Many unmanned underwater vehicles (REMUS, SPARUS, AUV62AT etc.) It has antennae extending upwards. The underwater vehicles in question come to the surface and can use these antennas they have. Long-range DM2A4 ER torpedo as well It has a telescopic antenna that it uses by coming to the surface at low speed.

To use the antennas attached to the hull, the underwater vehicle is too close to the surface or must rise to the surface. This situation is problematic for many reasons. Firstly surface conditions may not be suitable for the vehicle to approach the surface. 4 of the sea state or higher, a torpedo-sized underwater vehicle viewing will not be possible.

The speed of the underwater vehicle in question will also prevent it from reaching the surface. 6 meters tall The number of Froudes an underwater vehicle has at 15 knots is 1.0. is calculated. Being able to navigate with such a Froude number is only possible with planning. It is possible with hull forms and to be able to cruise with a torpedo type hull, neither energy nor It is not possible from a control point of view. In addition, the capabilities expected from the vehicle are also on the surface. conflicts with the need for approximation. A sonar system on the surface is functional. It will not be possible for the propulsion systems to work, especially at high speeds. will not.

The invention, which is the subject of the application numbered 'U87230881B2' in the state of the art, a smaller water ejected from the submarine and carrying a communication antenna on the upper part contains six tools. A submarine towed by the underwater vehicle underway. It can have hydrodynamic form and control system or only with buoyancy force. It may be in the form of a straw that will stand on the water surface. The second in Samandira form It is impossible to use the solution while the submarine is underway. suitable for underwater The first solution with a hydrodynamic form is enough to take the antenna out of the water surface. should be close to the surface. In the case of a turbulent sea this is only possible if the submarine is cruising at very low speeds. It is connected to the underwater vehicle by a cable and when not released, it is attached to the underwater vehicle's surface. includes a fully seated communication unit. The form of this unit is It is in a way that allows it to slide on its surface. In the form of a slip-on trimaran It is designed and it is expected that the unit will enter the sliding cruise regime as the speed increases.

Indeed, at 4.5 knots, for a 0.5 meter long form, Froude number exceeds 1.0. It is expected that the form will enter the sliding regime from these speeds.

The biggest problem here is that such a small body always has a certain amount of This is because it is being pulled at the surface of the sea that harbors turbulence. Sliding bodies by water The forces acting on the water surface are directly related to the contact angle and the contact surface size. it is attached. The slightly turbulent surface of a communication unit of the aforementioned dimensions being under highly variable loads even under the conditions of It is envisaged to be thrown above and below the surface.

For this reason, unlike the previous technical solutions, the underwater vehicle to which it is connected sailing at much higher speeds and the sea surface is more turbulent. A system that allows it to be used in situations is needed.

As a result, due to the above-mentioned negativities and existing solutions It is necessary to make an improvement in the relevant technical field due to the inadequacy of the is locked.

The purpose of the invention: The invention means that underwater vehicles can communicate without approaching/approaching the water surface. a towed communication system that enables positioning and observation, and related to the observation tool.

The most important object of the invention is to fight with the water surface, thanks to the surface-splitting wing structure. It ensures that the interaction is reduced to a negligible level. In this way, tied the underwater vehicle in which it is located travels at much higher speeds and the sea surface It allows it to be used in situations where it is more turbulent.

It is another object of the invention, because the communication unit is more stable, on the communication unit of the sensors that collect data (camera, range finder, etc.) allowing it to be placed and used. In this way, healthy visuals from the surface data can be obtained.

Another aim of the invention is to provide healthy visual data taken from the surface, underwater vehicle. facilities provided by the communications unit, as can be evaluated by the It enables it to be transferred to other elements in the field.

Another object of the invention is to provide both water surface and It also provides less resistance under water. In this way, from the underwater vehicle the difficulties encountered during the release and assembling back to the underwater vehicle. enables reduction.

The structural and characteristic features of the invention and all its advantages are given below. and it is clearer thanks to the detailed explanation written by referring to these figures. will be understood. For this reason, these forms and detailed explanations are also included in the evaluation. should be taken into account.

Description of figures: Figure 1; The towed communication and observation vehicle for underwater systems, which is the subject of the invention. is the drawing that gives the image.

Figure -2; The subject of the invention is the drawing that gives the image of the communication unit.

Figure -3; It gives the image of the inventive communication unit on the water surface. is the drawing.

Figure -4; In case the immersion depth of the communication unit, which is the subject of the invention, changes is the drawing that gives an image of the passive balancing capability of the system.

Reference numbers: 110. Communication unit 111. Body 112. Winglet 120. Cable 130. Storage and fixing station 140. Drum mechanism 200. Underwater vehicle Description of the invention The invention means that underwater vehicles can communicate without approaching/approaching the water surface. a towed communication system that enables positioning and observation, and related to the observation tool.

Towed communication and observation tool for underwater systems, which is the subject of the invention, communication unit (110), cable (120), storage and fixing station (130) and drum mechanism (140).

The communication unit (110) oscillates over the underwater vehicle (200) to the water surface and back. it collects and enables the underwater vehicle (200) to communicate.

The communication unit (110) is in the storage and fixing station when not in use. (130) pending. Storage on the communication unit (110) when it is oscillating the fins (112) that keep it away from the station (140) and the underwater vehicle (200) has. Fins (112), communication unit (120) from underwater vehicle (200) while moving away, it allows it to be lifted towards the surface.

The body (111) of the communication unit (110) has a pair of control fins near its lower edge. (112) includes. The body (111) is in the form to break the water surface. Communication unit When (120) reaches the water surface, the fin (112) part of the body is in the water. remains. The communication unit (110) is in the form of an inverted-T blade. Communication unit (110) asks him to follow the underwater vehicle (200) by splitting the water surface when it reaches the surface. It is in the form of a partial surface splitting wing that cuts the water surface that provides it.

Communication unit (110), monitoring its status and communicating if necessary A series of arrays on the unit (110) can be controlled to control the position of the unit (110). It has a sensor group. The sensors calculate the angular orientation of the unit. inertial measurement unit to calculate the position of the unit relative to the water surface. It can be a wetness sensor or a pressure sensor. Sensor (113), cable supplied It also allows the monitoring of the amount.

The communication unit (110) provides communication, positioning and observation capability. components such as a GPS module and a data link/radio module to meet has. Positioning capability to be obtained thanks to the GPS module, for a vehicle with long travel times to correct its own position calculation it will provide. Positioning to be achieved with tactical level inertial measurement units sensitivity is significantly reduced at long travel times and distances. find it Thanks to the position correction capability it provides, the underwater vehicle using the invention is very long. precise positioning across tasks spanning distance and time will be able to.

The communication unit (110) is connected with other elements in the field before the vehicle surface. It includes a communication module that enables communication. Communication unit Mission update in the field and underwater with the communication module on (110) It is possible to share the data obtained by the intermediary. related ability, many tactics such as patrolling, navigating, herd organization, intelligence gathering means that the capability can be imparted to the underwater vehicle.

Electro-optic on the communication unit (110), which is used to take images over water. contains the sensor. With this unit located at the end point of the communication unit The received data/image is sent from the data line on the cable to the underwater vehicle for processing. can be transmitted, as well as by the unit that already has the ability to communicate. can be transmitted to other elements in the field. In this way, the underwater vehicle does not come to the surface of the water. It has the ability to collect visual data. Communication unit (110) Its modular structure allows the use of task-specific and interchangeable task loads. allows.

The communication unit (110) returns to its compartment 200 in the underwater vehicle when its mission is terminated. is taken. In the recovery process, the cable (120) is wound by the drum mechanism (140) and the unit is allowed to approach the underwater vehicle (200). Meanwhile, the communication unit Depth and orientation control is done with the fins on (110). Finally the communication unit (110) drawn to the storage and fixing station 130 is here is fixed.

The cable (120) is used to control the distance of the communication unit (110) to the underwater vehicle (200). (release, retraction and towing) and the communication unit (110) and water It enables energy and data exchange between six agents (200). Cable (120) the force required to pull the communication unit (110) on the water surface. it provides. The force acting on the communication unit (110) by the cable (120) it has components both in the direction of the movement of the underwater vehicle 200 and in the down direction.

The force acting in the direction of movement of the underwater vehicle (200) is transmitted to the communication unit (110). balanced by the drag force acting on it. by cable (120) If the force acting downwards on the communication unit (110), the communication unit (110) with the transport force provided by the fins (112) on the is balanced. In order to create the vertical force balance, the fins It is possible to control the angles of attack (112) with an actuator system. water of the system The angle of attack of the fins (112) is adjusted according to the amount of protruding from the surface of the unit. The relative vertical position can be adjusted relative to the water surface.

In one embodiment of the invention, the vertical balance of the system is passively maintained.

In this alternative, the ailerons (112) are on the communication unit (110) while cruising. stands at a fixed angle. Free body of the communication unit (110) during travel diagram is given in Figure 4. Figure-4 (communication unit on the moon, pulled on the water surface While in the position, the horizontal position of the fins (112) of the communication unit (110) (120) is behind the port. Equations in Figure-4(a) with Equation-1 is calculated. Here (h) is the horizontal acting on the communication unit by the cable. the center of the drag force (D) acting on the communication unit with the force (Fy) is the vertical distance between (I) is the vertical acting on the communication unit by the cable. between the force (Fz) and the center of the lifting force (L) acting on the communication unit. is the horizontal distance.

M1=th0, M2=LxIO, M1=M2 Equation-1 In Figure-4 (b), drag force (D) acting on the communication unit (110) at constant speed, will increase with the increase of the submersion depth of the unit. At the same time, the unit the point of action of the drag force (D) will also shift upwards. Communication unit Since (110) is pulled by the horizontal force Fy by the cable (120) at this time, The moment (M1) that tries to tilt the communication unit (110) against the flow direction will increase and the unit will rotate in the opposite direction of travel. Equations in Figure-4(b) with Equation-2 is calculated.

Equation-2 In the case of Figure-4 (c), the fins (112) angle of attack will increase and the fins will The lifting force (L) produced by the Unit of increase of lifting force The reason why the fins (112) are behind the fuselage when moving upwards The moment (M2) that tries to rotate the unit in the flow direction will increase. In Figure-4 (0) equations are calculated by Equation-3.

Equation-3 In Figure-4 (d), if the system approaches the surface, D and M1 will decrease and its In return, the winglet (112) angle of attack is tilted towards the direction of travel of the system. will decrease. In Figure-4 (d), the equations are calculated by Equation-4.

M1=th0, M2=Lx10, M2=M1 Equation-4 Due to this dynamic relationship, the system is not dependent on a control loop. passive stabilization is also possible.

The storage and anchoring station 130 is, in accordance with the design of the underwater vehicle 200, underwater. integrated with the body of the vehicle (200) or outside the body of the underwater vehicle (200) and provides the communication unit (110) to be stored and fixed.

When the storage and fixing station 130 is not in use, the communication unit 110 It ensures that it is fixed and stored in the underwater vehicle (200). Storage and fixation station (130), when the communication unit (110) is to be oscillated, used for fixing the communication unit in the fixing station (130) opening the apparatus and allowing the cable (120) to be supplied by the drum mechanism (140). it provides. The drum mechanism (140) controls the unwinding of the cable (120). ensures that.

In an embodiment of the invention, the conceptual design for a 533 mm diameter underwater vehicle (200) The design is in Figure-1. Although the working principle of the system is the same, Communication unit (1 10) and storage and fixation according to the characteristics of the carrier platform The design of the station 130 will differ.

Claims (3)

REQUESTS 1. It is a towed communication and observation vehicle for underwater systems that enables underwater vehicles to communicate, position and observe without coming to the surface of the water. On the communication unit (110), at least one fin (112) is positioned near its lower edge, which enables the communication unit (120) to be lifted towards the surface while it moves away from the underwater vehicle (200), and when the communication unit (110) reaches the surface, at least one fin (112) is located. It allows the underwater vehicle (200) to communicate by being released to the water surface and collected back over the underwater vehicle (200), which includes at least one body (111) whose part is in the form of a surface-splitting wing crossing its surface, at least one communication unit (110) that provides a sensor group, at least one that allows controlling the distance of the communication unit (110) to the underwater vehicle (200) and exchanges energy and data between the communication unit (110) and the underwater vehicle (200). the cable (120) is integrated with the body of the underwater vehicle (200) according to the design of the underwater vehicle (200) or is located outside the body of the underwater vehicle (200), at least one storage and fixing station (130) that provides the storage and fixation of the communication unit (110). and at least one drum to control the unwinding of the cable (120) 2. It is a towed communication and observation tool for underwater systems in accordance with Claim-1. The communication unit (110) includes a storage-fixing station (130) that allows it to be fixed and stored on the underwater vehicle (200) when not in use. 3. It is a towed communication and observation tool for underwater systems in accordance with Claim-1. when the communication unit (120) reaches the water surface, it includes a body (111) that ensures that the fin (112) part of the body stays in the water. It is a towed communication and observation tool for underwater systems in accordance with Claim-1. It contains a communication unit (110) in the form of an inverted-T blade. . It is a towed communication and observation tool for underwater systems in accordance with Claim-1. it contains an inertial measurement unit to calculate the angular orientation of the communication unit (110) and a communication unit (110) containing a wetness and pressure sensor to calculate its position relative to the water surface. It is a towed communication and observation tool for underwater systems in accordance with Claim-1. It contains a communication unit (110) containing a sensor that enables the amount of cable (120) to be observed. It is a towed communication and observation tool for underwater systems in accordance with Claim-1. It contains a communication unit (110) that contains a GPS module and a data link/radio module to meet the communication, positioning and observation capability. . It is a towed communication and observation tool for underwater systems in accordance with Claim-1. It contains a communication unit (110) containing a communication module that enables the vehicle to communicate with other elements in the field without surfacing. . It is a towed communication and observation tool for underwater systems in accordance with Claim-1. It contains a communication unit (110) containing an electro-optical sensor for taking images over water. 10. It is a towed communication and observation tool for underwater systems in accordance with Claim-1, and its feature is; The communication unit (110) contains a cable (120) that provides the necessary force for pulling it on the water surface. It is a towed communication and observation tool for underwater systems in accordance with Claim-1. When the communication unit (110) is to be oscillated, the apparatus used for fixing the communication unit in the storage-fixing station (130) includes a storage-fixing station (130) that opens and enables the cable (120) to be supplied by the drum mechanism (140).