JPS5984100A - Remotely controlled underwater sailing body - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] This invention relates to an underwater vehicle equipped with a so-called underwater acoustic poming system that searches for a target position and guides itself to that position, and in particular moves guidance and control related equipment to the mother ship. This article relates to a simplified remotely controlled underwater vehicle.

Conventional underwater vehicles equipped with underwater acoustic poming system have large wholesale sound or target acoustic strength11.
The focus was on tracking targets from a relatively short distance. However, in recent years, the target radiated sound or data length has become smaller, while the distance for searching and tracking has become longer. In addition, the goal is to use a high-grade decoy such as a self-propelled echo repeater.However, the following drawbacks of this type of conventional underwater navigation have become apparent.

1) If the search and tracking distance is longer than 1111t, it will cause a large error in calculating the target position using the sonar of the I-Li ship, and the underwater vehicle will be guided within the range of 1,111 tons of the underwater vehicle. The problem becomes p'4[.

2) FFT (First
This requires signal processing such as Fourier Transrer (Fourier Transrer) and visual logic circuits, making it difficult to accommodate it in the limited body of an underwater vehicle.

In addition, there are restrictions on the installation of equipment to fulfill the original role of underwater vehicles.

3) The underwater vehicle that broke away from the ship was recovered and recovered.
There are few cases in which one is used, and for this reason, the expensive 11 target identification device is lost with underwater vehicles.

The present invention eliminates the drawbacks of conventional underwater vehicles, mounts only limited equipment in a limited size, and thereby reaches one target reliably and reaches the desired target. [In order to achieve the first goal, the guidance and control equipment that was previously mounted on the tower as a component of the underwater vehicle will be transferred to the IJJ ship, and the underwater vehicle will be guided by remote control from the commissioned ship.] The purpose of this invention is to provide a remotely controlled underwater vehicle that is simplified and simplified.

For this reason, the two remotely controlled underwater vehicles of the present invention are as follows.

In an underwater vehicle equipped with an underwater acoustic homing system, an induction wire is connected between the underwater vehicle and a mother ship to form a mutual J-word transmission path.

An old computer installed on the mother ship that inputs underwater acoustic data received by the ice vehicle and status data of the underwater vehicle via induction wires and calculates data necessary to guide the underwater vehicle to the target position. The aircraft receives data from the old aircraft, and based on the boots, controls the underwater vehicle to its target position and a control device that guides it to its target position (
It is characterized by being nifty.

An embodiment of the present invention will be explained below with reference to one drawing.9
The figure is an embodiment of a block diagram of a guidance system for a remotely controlled underwater vehicle according to the present invention.

In the drawings, 13 shows the side of the IiJ ship, and A shows the side of the ice vehicle that was launched from ship B, 1tfI escaped, and was guided to the target. The underwater acoustic data obtained by the transducer 1 and the transceiver 2 and the state data of the underwater vehicle such as attitude, depth, and speed obtained by the attitude detector 3 are transferred to the data transmitter 4 on the underwater vehicle side A.
The induction wire (
(including optical fiber) 11 to the mother ship's data transmitter 9. The 11 mark 81 calculator 7 sends data on the 1st ship, 1" mark, and underwater vehicle obtained from the movement of the ship and the sonar prepared for the 1st vessel to the identification 81 unit 8. When the underwater vehicle A does not capture the 11 target again, the guidance 81 computer 10 determines the underwater vehicle's position based on the data from the 11 target 81 anchor 7 and the status data of the underwater vehicle. Calculates guidance quantities such as the steering angle or attitude angle, and transmits the information to the underwater vehicle A via the data transfer device 9.
data transfer device 4. The ice vehicle A controls the plow propulsion device 5 and the control device 6 in response to this guidance I from the single ship, and moves by itself in the guidance direction. Next is underwater vehicle A.
Underwater acoustic data from a decoy or a real target? 1
Identification Ml' NNNa3 operating in 7tara 7ii
If it is determined that the underwater acoustic data is that of the true target, the data from the target computer 7 is replaced with the underwater acoustic data from underwater vehicle A by IRJ.

Based on this and the state data of the underwater vehicle, the guidance m of the underwater vehicle is calculated and transferred to the underwater vehicle A, and the underwater vehicle A is guided to the target.

In addition, the target old calculator 7. Discrimination total 3'11 machine 8. The guidance R1 calculator 10 may be a conventional mother ship or one mounted on a tower.

In this way, the remotely controlled underwater vehicle of the present invention is provided.

In an underwater vehicle equipped with an underwater acoustic homing system, the parts related to the identification and guidance of 1" markers were moved to a large combination of ships, and a 21η ship was equipped with an induction wire connected between the underwater vehicles. Connecting the underwater vehicle and the lυ vessel, the underwater vehicle transmits underwater acoustic data and status data of the underwater vehicle, such as attitude angle, to the IU vessel and guides the underwater vehicle to 11 targets. So I did it.

(1) Since the underwater vehicle collects data on lj and is remotely controlled according to commands from the mother ship, the guidance and control device is simplified and becomes smaller, lighter, and cheaper.

(2) Complex signal processing and logical judgments are performed by a large computer on the mother ship, making it fast and accurate.

(3) The resolution and measurement accuracy of sonar in the long range are close to the underwater vehicle or the target, and switching to data from the underwater vehicle ensures search and tracking of the target. .

(4) Advantages such as being able to mount sufficient equipment to fulfill the original role of the underwater vehicle without the need to mount a J mark determination device and guidance control device inside the underwater vehicle. or can be obtained.

[Brief explanation of drawings]

The figure is a block diagram of one embodiment of the guidance nostem for a remotely controlled underwater vehicle according to the present invention. A Underwater vehicle 131 Boat 1 Transmitter/receiver 2 Transmitter/receiver 3 Attitude detector 4.9・
Data transfer i! i45-41 Decimal device 6... Control device 7 Target 81 calculator 8 - Identification R1 calculator 10 Induction old calculator 11-Induction wire

Claims (1)

[Claims] An underwater i''l sound poming system (lfif) is provided in an underwater vehicle, and an induction wire that is connected between the underwater vehicle and a mother ship and forms a sound transmission path for mutual signals. and. The underwater acoustic data received by the underwater vehicle and the state data of the underwater vehicle are manually transmitted via induction wires to the underwater vehicle.
Based on the data from the R1 anchor mounted on the mother ship and the 31p aircraft, which calculates data for guiding to the target position, the submersible vehicle is guided to the target position. A remotely controlled underwater vehicle characterized by being equipped with a control device.