JPH0117554B2 - - Google Patents
Info
- Publication number
- JPH0117554B2 JPH0117554B2 JP57231611A JP23161182A JPH0117554B2 JP H0117554 B2 JPH0117554 B2 JP H0117554B2 JP 57231611 A JP57231611 A JP 57231611A JP 23161182 A JP23161182 A JP 23161182A JP H0117554 B2 JPH0117554 B2 JP H0117554B2
- Authority
- JP
- Japan
- Prior art keywords
- transmitting
- receiving
- turning
- underwater vehicle
- acoustic homing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/66—Sonar tracking systems
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Description
【発明の詳細な説明】
本発明はアクテイブソーナー装置を搭載して音
響ホーミングする水中航走体の水中航走体用音響
ホーミング装置に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an acoustic homing device for an underwater vehicle that carries an active sonar device and performs acoustic homing.
従来この種の水中航走体用音響ホーミング装置
は水中航走体の軸方向に対して送波ビーム及び受
波ビームの主軸方向が固定されており、とくに水
中航走体のように目標を旋回して捜索する場合、
送波した方向に対し受波ビームの主軸方向が時間
の経過とともにずれていき、送受波感度積を損う
ことが大きかつた。 Conventionally, in this type of acoustic homing device for underwater vehicles, the main axes of the transmitting beam and the receiving beam are fixed with respect to the axial direction of the underwater vehicle. When searching for
The direction of the principal axis of the received beam deviates over time with respect to the direction in which it was transmitted, which greatly impairs the transmitting and receiving sensitivity product.
また、送受波感度積の減少を少くするため始め
から送波ビームの軸を旋回方向に一定角度シフト
としておくこと或は受波ビームの指向幅を広くす
ること等が行なわれているが、送波ビームをシフ
トすることは水中航走体の運動を制限することに
なりまた受波ビームの指向幅を広くすることは雑
音を受けやすくなる等の欠点があつた。 In addition, in order to reduce the decrease in the transmitting and receiving sensitivity product, attempts have been made to shift the axis of the transmitting beam by a certain angle in the rotation direction from the beginning or to widen the directivity width of the receiving beam. Shifting the wave beam limits the movement of the underwater vehicle, and widening the receiving beam's directional width has disadvantages such as increased susceptibility to noise.
本発明は、水中航走体の旋回に応じて送波した
方向に受波ビームの主軸方向を一致させるより、
音響ホーミング装置アクテイブソーナー回路の受
信回路に移相回路を付加して受波ビームの整相を
行なうことにより、上記欠点を除去し送受波感度
積の減少による音響ホーミング性能の低下がない
水中音響航走体用音響ホーミング装置を提供する
ことにある。 In the present invention, rather than aligning the main axis direction of the receiving beam with the direction in which the wave was transmitted in accordance with the turning of the underwater vehicle,
Acoustic homing device By adding a phase shift circuit to the receiving circuit of the active sonar circuit and phasing the receiving beam, the above-mentioned drawbacks are eliminated and underwater acoustic navigation is realized without deterioration of acoustic homing performance due to a decrease in the transmitting/receiving sensitivity product. An object of the present invention is to provide an acoustic homing device for a running object.
次に図面を用いて説明してゆく。第１図は従来
の水中航走体用音響ホーミング装置の構成図であ
り、第２図は本発明の実施例の構成図である。 Next, we will explain using drawings. FIG. 1 is a block diagram of a conventional acoustic homing device for an underwater vehicle, and FIG. 2 is a block diagram of an embodiment of the present invention.
一般に水中航走体用音響ホーミング装置は第１
図に示すように送信回路１、受信回路２、及び送
受波器３から成つており、送波指向性及び受波指
向性は送受波器に対して一定のパターンをもつて
いる。 In general, acoustic homing devices for underwater vehicles are the first
As shown in the figure, it consists of a transmitting circuit 1, a receiving circuit 2, and a transducer 3, and the transmitting and receiving directivity has a fixed pattern with respect to the transducer.
本発明による水中航走体用音響ホーミング装置
は第２図に示すように送受波器３と受信回路２と
の間に移相回路４を備え、外部からの制御により
受波指向性を左右に振ることができるようになつ
ており、送信からの遅れ時間と水中航走体の旋回
率に応じて移相回路４を制御するものとする。 As shown in FIG. 2, the acoustic homing device for underwater vehicles according to the present invention is equipped with a phase shift circuit 4 between a transducer 3 and a receiving circuit 2, and the receiving directivity is shifted left and right by external control. The phase shift circuit 4 is controlled according to the delay time from transmission and the turning rate of the underwater vehicle.
次に本発明について図面を用いて説明する。第
３図は従来技術の場合の送受波感度損の旋回によ
る変化を説明するための図、第４図は本発明によ
る場合の第３図に対応する送受波感度損を示す図
である。 Next, the present invention will be explained using the drawings. FIG. 3 is a diagram for explaining the change in the sensitivity loss of transmitting and receiving waves due to rotation in the case of the prior art, and FIG. 4 is a diagram showing the sensitivity loss of transmitting and receiving waves corresponding to FIG. 3 in the case of the present invention.
一般に標的からの反射音を航走体が受ける受波
音圧RLは次式で与えられる。 Generally, the received sound pressure RL at which a vehicle receives reflected sound from a target is given by the following equation.
RL＝SL＋TS−2TL−DI ……(1)
SL：航走体から送波する送波音圧（dB）
TS：標的の反射係数（dB）
TL：音波の水中片道伝搬損失（dB）
DI：送受波感度積による減少（dB）
第３図において曲線Ａは送波指向性、曲線Ｂは
受波指向性を示すものとすると曲線Ｂは水中航走
体の旋回によつて旋回方向に平行移動していくこ
とになる。従つて送受波感度積DIを示す曲線Ｃ
は旋回とともに変化し、送波指向性（曲線Ａ）と
受波指向性（曲線Ｂ）の軸が一致するとき送受波
感度積の減少は最小となりその前後では大きくな
る。 RL = SL + TS - 2TL - DI ... (1) SL: Transmitted sound pressure transmitted from the vehicle (dB) TS: Target reflection coefficient (dB) TL: Underwater one-way propagation loss of sound waves (dB) DI: Transmission/reception Decrease due to wave sensitivity product (dB) In Fig. 3, curve A shows the transmitting directivity and curve B shows the receiving directivity. Curve B moves parallel to the turning direction due to the turning of the underwater vehicle. I'm going to go there. Therefore, curve C showing the transmitting and receiving sensitivity product DI
changes with turning, and when the axes of the transmitting directivity (curve A) and the receiving directivity (curve B) coincide, the decrease in the transmitting and receiving sensitivity product becomes minimum, and increases before and after that.
本発明によれば第４図に示すように水中航走体
の旋回にかかわらず受波指向性の軸は送波指向性
の軸に一致するよう制御しているので送受波感度
積の減少は旋回中常に第３図における最小のとこ
ろに維持される。 According to the present invention, as shown in FIG. 4, the axis of receiving directivity is controlled to coincide with the axis of transmitting directivity regardless of the turning of the underwater vehicle, so that the product of transmitting and receiving sensitivity does not decrease. It is always maintained at the minimum position in FIG. 3 during the turn.
本発明は以上説明したように水中航走体の旋回
に応じて送波した方向に受波ビームの主軸方向を
一致させるよう音響ホーミング装置アクテイブソ
ーナー回路に移相回路を設けて制御することによ
り、送受波感度積の減少を最小に抑える効果があ
る。 As explained above, the present invention provides control by providing a phase shift circuit in the acoustic homing device active sonar circuit so that the main axis direction of the received beam coincides with the direction in which the waves were transmitted in accordance with the turning of the underwater vehicle. This has the effect of minimizing the decrease in the transmitting and receiving sensitivity product.
第１図は従来における水中航走体用音響ホーミ
ング装置の構成図、第２図は本発明の一実施例を
示す図。第３図は受波ビームが固定の場合の送受
波感度積の減少と送波した方向を基準とした旋回
方向の角度を示す図で第３図ａ，ｂ，ｃ，ｄは、
旋回による時間経過を示す。第４図は本発明によ
る効果を第３図との比較で示した図である。
図において、Ａ……送波指向性、Ｂ……受波指
向性、Ｃ……送受波感度積の減少を示す曲線、ω
……旋回角速度、ｔ……送波からの経過時間、α
……送波指向性ビームシフト角、β……受波指向
性の水中航走体の軸に対するビームシフト角、θ
……送波時を基準とする旋回方向角度。
FIG. 1 is a configuration diagram of a conventional acoustic homing device for underwater vehicles, and FIG. 2 is a diagram showing an embodiment of the present invention. Figure 3 is a diagram showing the decrease in the transmitting/receiving sensitivity product when the receiving beam is fixed and the angle of the turning direction based on the transmitting direction. Figure 3 a, b, c, and d are:
It shows the passage of time due to turning. FIG. 4 is a diagram showing the effects of the present invention in comparison with FIG. 3. In the figure, A: transmitting directivity, B: receiving directivity, C: a curve showing a decrease in the transmitting and receiving sensitivity product, ω
...Turning angular velocity, t...Elapsed time from transmission, α
...Beam shift angle of transmitting directivity, β...Beam shift angle of receiving directivity with respect to the axis of the underwater vehicle, θ
...Turning direction angle based on the time of wave transmission.
Claims (1)
ながら水中に音波を送波ビームとして送出し目標
物からの反射音を受波ビームにより受信して目標
物を探知して音響ホーミングする水中航走体用音
響ホーミング装置において、前記水中航走体の旋
回に応じて前記受波ビームの主軸方向を前記送波
ビームの主軸方向に一致するよう制御する移相手
段を有することを特徴とする水中航走体用音響ホ
ーミング装置。1. An underwater vehicle that is dropped from the air or from a ship and rotates while sending out sound waves into the water as a transmission beam, receives reflected sound from the target object as a reception beam, detects the target object, and performs acoustic homing. An acoustic homing device for underwater navigation, comprising a phase shift means for controlling the main axis direction of the receiving beam to match the main axis direction of the transmitting beam according to the turning of the underwater vehicle. Body acoustic homing device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP57231611A JPS59116565A (en) | 1982-12-24 | 1982-12-24 | Acoustic homing apparatus for underwater navigating body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP57231611A JPS59116565A (en) | 1982-12-24 | 1982-12-24 | Acoustic homing apparatus for underwater navigating body |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS59116565A JPS59116565A (en) | 1984-07-05 |
| JPH0117554B2 true JPH0117554B2 (en) | 1989-03-30 |
Family
ID=16926221
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP57231611A Granted JPS59116565A (en) | 1982-12-24 | 1982-12-24 | Acoustic homing apparatus for underwater navigating body |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59116565A (en) |
-
1982
- 1982-12-24 JP JP57231611A patent/JPS59116565A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS59116565A (en) | 1984-07-05 |
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