JP5704327B2 - Horizontal distance calculation system and horizontal distance calculation method for calculating horizontal distance to underwater object - Google Patents

Description

  The present invention relates to a horizontal distance calculation system and a horizontal distance calculation method, and in particular, a horizontal distance that radiates sound waves into the ocean, receives reverberation from an underwater object, and calculates a horizontal distance from the sound source to the underwater object. The present invention relates to a calculation system and a horizontal distance calculation method.

  Conventionally, as a sonar system that searches for underwater objects in the ocean by radiating sound waves into the ocean and receiving echoes from underwater objects (underwater targets) A horizontal distance calculation system that measures a sound wave propagation time from a sound source to an underwater object and calculates a horizontal distance from the sound source to the water object based on the sound wave propagation time is widely known.

  In the horizontal distance calculation system described above, the horizontal distance to the underwater object is generally obtained by the following calculation system. That is, the water temperature at the depth of water in which sound waves are radiated is measured in advance, and based on this measurement result, the following equation (1) is used to obtain a predetermined A sound speed c [m / s] at a depth in water is obtained.

c [m / s]
= 1493.0 + 3 (θ-10) −0.006 (θ−10) ² −0.04 (θ−18) ² +1.2 (S−35) −0.01 (θ−18) (S−35) ) + D / 61.0 (1)
However, (theta) is water temperature [degreeC], S is salt concentration [ppt], D is depth [m].

  Then, the obtained sound speed c [m / sec] is set as the sound speed Vs [m / sec] set when calculating the distance. That is, c [m / sec] = Vs [m / sec].

  Next, the sound wave propagation time T [sec] to the underwater object is measured, and the set sound speed Vs [m / s] and the sound wave propagation time T [sec] are multiplied as shown in Expression (2) to obtain the underwater object. The horizontal distance R [m / s] is calculated.

  R [m / s] = Vs [m / s] × T [sec] (2)

  In the above-mentioned system for calculating the horizontal distance to an underwater object, it is assumed that the sound wave propagates from the sound source to the underwater object at a sound velocity at a constant sound radiation depth, and the horizontal distance to the underwater object is determined by the sound wave propagation time from the sound source to the underwater object. R [m / s] is calculated. That is, the horizontal distance R [m / s] to the underwater object is calculated on the assumption that the sound wave propagates horizontally from the sound source to the underwater object at a constant speed. However, the actual sound wave in water propagates from the sound source to the underwater object while the refraction degree and sound speed of the sound ray (sound wave propagation path) vary depending on the water temperature, the water depth, and the like.

  With reference to FIG.7 and FIG.8, the complicated propagation condition of the sound wave in water is demonstrated. FIG. 7 is a diagram showing a typical sound speed profile in water, where the horizontal axis indicates sound speed and the vertical axis indicates water depth. FIG. 8 is a diagram showing a propagation path of sound waves generated by the typical sound velocity profile shown in FIG. 7 in water, where the horizontal axis represents distance and the vertical axis represents water depth.

  As shown in FIG. 7, a typical sound velocity profile 1 is composed of a mixed layer 2, a water temperature climbing layer 3, and a deep sea isothermal layer 4. The mixed layer 2 is a layer of isothermal water formed by the action of wind blowing on the sea surface, the sound velocity profile 1 has a positive slope, and Snell indicates the law of refraction of traveling waves in two different media. The sound wave propagates while being refracted upward.

  Further, the water temperature jump layer 3 which is a layer having a large water temperature gradient is a layer having a negative gradient in which the sound velocity profile 1 decreases as the water depth increases, and the sound wave is refracted downward based on Snell's law. Propagate while. Further, the deep sea isothermal layer 4 is a layer having a positive inclination in which the sound velocity profile 1 increases mainly as a result of pressure, and the sound velocity propagates while being refracted upward from Snell's law. That is, from the inclination of the sound velocity profile 1, the sound wave in the water does not simply go straight, but propagates in the water while being refracted upward or downward.

  Therefore, the propagation path of the sound wave in water shown in FIG. 8 generated by the typical sound velocity profile 1 shown in FIG. 7 will be described by taking the sound wave emitted from the ship as an example. Various propagation paths are generated depending on the radiation angle with respect to the vertical direction. As a typical example, as shown in FIG. 8, a surface duct propagation path in which sound waves propagate while being refracted upward in the mixed layer 2, reflected by the sea surface 7, and propagated while being refracted upward again. 8 and the bottom bounce propagation path 9 where the sound wave is reflected by the seabed 6 and reaches the sea surface 7, and the sound wave is refracted downward in the water temperature jump layer 3 and further refracted upward in the deep sea isothermal layer 4, There is a Convergence Zone propagation path 10 that reaches the sea surface 7 without hitting the seabed 6.

  As described above, the sound wave transmitted from the transmission position 5 of the ship does not simply travel straight, but is complicated like the Surface Duct propagation path 8, the Bottom Bounce propagation path 9, and the Convergence Zone propagation path 10. Propagated by path. For this reason, a simple calculation method for calculating the horizontal distance R [m / s] from the set sound speed Vs [m / sec] × the sound wave propagation time T [sec] to the underwater object using the equation (2) is as follows: The calculation error of the horizontal distance to the underwater object becomes large.

  Therefore, in order to reduce the calculation error of the horizontal distance to the underwater object, various systems for calculating the horizontal distance to the underwater object in consideration of the refraction degree of the sound ray (acoustic wave propagation path) and the change in sound velocity have been proposed. . For example, the sound wave propagation path to the target object is calculated based on the water temperature distribution data for each seawater depth, and the horizontal distance to the under water object and the propagation time are calculated after dividing the sound wave propagation path into minute constant intervals. A sound wave propagation path calculating means for calculating, an average sound speed calculating means for calculating an average sound speed in a horizontal direction used as a factor for calculating a distance to a target object, based on the calculated horizontal distance and propagation time, and actually measured There is provided a horizontal distance calculation system for an underwater object comprising target horizontal distance calculation means for calculating a horizontal distance to the underwater object based on a sound wave propagation time to the target object and the calculated average sound speed (for example, Patent Document 1). According to this horizontal distance calculation system, the calculation error of the horizontal distance to the target object can be kept low.

  Further, as related technologies, the positions of the ship A and the ship B are calculated by GPS (Global Positioning System), and the transmission time when the ship A transmits the sound wave to the underwater object and the ship B receives the sound wave from the underwater object. A technique for measuring the position of an underwater object with high accuracy by calculating the propagation time of a sound wave based on the reception time is disclosed (for example, see Patent Document 2). Furthermore, even if there is a boundary where the sound velocity gradient is discontinuous, the sound ray path of the sound wave transmitted from the sound source to the target in water can be accurately determined by correcting the sound ray path (sound propagation path) for each divided area. A technique for calculating is disclosed (for example, see Patent Document 3).

Japanese Patent Laid-Open No. 08-220227 JP 2006-292435 A Japanese Patent Laid-Open No. 10-062544

  However, the sound velocity profile does not become exactly the same in the distance direction in water, and the depth of the mixed layer in water varies with distance. Therefore, a calculation error occurs when the horizontal distance to the underwater object is calculated with a constant mixed layer between the measurement distances. Moreover, since the inclination of the water temperature climatic layer and the deep sea isothermal layer are different, the horizontal distance calculation system of the underwater object proposed in Patent Document 1 uses the sound velocity profile of only the ship's transmission position, so that the actual sound wave propagation When compared with the path, a calculation error occurs in the horizontal distance.

  In addition, the sea around Japan is the west coast of the Pacific Ocean, and it is a unique sea area where relatively strong currents represented by the Kuroshio and Oyashio currents are generated due to the rotation of the earth. Around each current, warm currents are separated from the mainstream. It is known that the ocean current has a complex distribution like a turbulent flow so that it becomes a warm water mass or a cold ocean current is separated from the main current to become a cold water mass. For this reason, in the horizontal distance calculation system that calculates using the sound velocity profile of only the transmission position of the ship, a calculation error occurs in the horizontal distance.

  For this reason, there is a known method of calculating the horizontal distance to an underwater object using not only the sending position of the ship but also multiple sound velocity profiles measured by a consort ship or Sonobui (a suspended buoy with built-in sonar). Yes. However, even with this measurement method, the observed horizontal density of the measurable sound velocity profile is rough due to observation time and cost constraints, and in addition, it is affected by observation errors and fluctuations during sound wave propagation. Even in the horizontal distance calculated using, a calculation error is included in the horizontal distance to the underwater object.

  In the technique of Patent Document 2, the position of an underwater object can be measured based on the position of the sound wave source and destination and the sound wave propagation time. However, the correction of the sound wave propagation path due to changes in water temperature and tidal current is possible. In addition, since the sound wave propagation path is not corrected according to the underwater depth of the mixed layer, the water temperature climatic layer, and the sea isothermal layer, a calculation error occurs in the horizontal distance to the underwater object. Furthermore, in the technique of Patent Document 3, the sound ray path (sound wave propagation path) can be accurately calculated even if there is a boundary where the sonic gradient is discontinuous. Thus, since it is not disclosed whether to calculate the distance to the underwater object, it cannot be developed to a technique for accurately calculating the horizontal distance to the underwater object.

The present invention has been made in view of the above circumstances, and in the ocean where the sound speed profile changes in the distance direction, the horizontal distance calculation to the underwater object that can minimize the calculation error of the horizontal distance to the underwater object. A first object is to provide a system and a horizontal distance calculation method.
Further, the present invention provides a horizontal distance calculation system and a horizontal distance calculation method for an underwater object capable of minimizing a calculation error of a horizontal distance to the underwater object due to an observation error of a sound wave propagation path and a fluctuation during sound wave propagation. The second purpose is to provide the above.

In order to solve the above problem, a first arrangement of the invention, the transmission and reception of sound waves, relates to a horizontal distance calculation system for calculating the horizontal distance to underwater objects, different sound propagation for each layer in water characteristics based on the sound propagation time calculated from the reception time of receiving the waves transmitted from the receiving object is the transmission object and transmission time wave sound velocity profile from the transmission object is transmitted indicating a horizontal axis represented by the depth of the horizontal distance and the vertical axis, and the sound propagation path calculation means for calculating the sound propagation path to the previous SL underwater objects as the receiving object, the position and the receiving object on the water surface before Symbol transmission object a position measuring means for measuring a position on the water surface, respectively, based on the position on the water surface of the transmission object and the receiving object the position measuring means to measure, measure water between the transmission object and the receiver object Distance and measuring horizontal distance calculating means for calculating, and calculating the horizontal distance calculating means for calculating the calculated horizontal distance between the receiving object and the transmission object based on wave propagation path the sound wave propagation path calculation means has calculated, based on the calculated horizontal distance the counted measuring horizontal distance calculating unit horizontal distance as measurement is calculated the calculated horizontal distance calculation means has calculated, corrected by correcting the sound propagation path, wherein the wave propagation path calculation means has calculated A sound wave propagation path correcting unit that generates a sound wave propagation path, and calculating a horizontal distance to the underwater object based on the corrected sound wave propagation path corrected by the sound wave propagation path correction unit. Yes.

The second configuration of the invention, the transmission and reception of sound waves, relates to a horizontal distance calculation how to calculate the horizontal distance to underwater objects, sound velocity profile exhibiting different wave propagation characteristics for each layer in water The horizontal distance on the horizontal axis and the vertical axis based on the sound wave propagation time calculated from the transmission time when the sound wave is transmitted from the transmitting object and the reception time when the receiving object receives the sound wave transmitted from the transmitting object . represented by the water depth, and the sound propagation path calculating process for calculating the sound propagation path to the previous SL underwater objects as the receiving object, and a position above the water before Symbol transmitting object position on the water surface of the receiving object, respectively a position measuring process of measuring, based on the position on the water surface of the transmission object and the receiving object measured by the position measurement processing, and calculates the measured horizontal distance between the transmission object and the receiver object measuring Horizontal And a release calculation processing, calculating the calculated horizontal distance calculation processing for calculating the horizontal distance, horizontal distance calculated measuring the gauge between the receiving object and the transmission object based on wave propagation path calculated by the wave propagation path calculation process based on the calculated calculated horizontal distance between measuring horizontal distances calculated in processing by the calculation horizontal distance calculation processing, the corrected wave propagation path and corrects the sound propagation path calculated by the wave propagation path calculation processing generated together comprising a sound propagation path correction process for, based on the corrected sound propagation path correct complement in the wave propagation path correction process is characterized and Turkey to calculate the horizontal distance to the underwater objects .

In the present invention, in order to cope with the change in the degree of refraction of sound rays and the change in sound velocity at each propagation depth, the transmission position of a transmission object (for example, own ship) and the reception position of a reception object (for example, a warship or a sonobuoy). A plurality of sound velocity profiles are measured. Based on the measured sound velocity profiles, the sound wave propagation path to the underwater object is calculated, and the transmission time transmitted from the transmitting object (for example, own ship) and the transmission sound transmitted from the transmitting object are received by the receiving object (for example, the consort ship) And the position of the transmitting object and the receiving object are measured by GPS or the like.
Therefore, according to the configuration of the present invention, since the sound wave propagation path to the underwater object is corrected using the calculated measurement horizontal distance, the horizontal distance to the underwater object can be calculated more accurately. The calculation error of the horizontal distance to the object can be suppressed.

It is a block diagram which shows the structure of the horizontal distance calculation system to the underwater object which concerns on 1st Embodiment of this invention. It is a flowchart which shows an example of the flow of operation | movement of the horizontal distance calculation system to the underwater object which concerns on the same 1st Embodiment. It is a figure which shows the sound velocity profile in the water measured in the ship position. It is a figure which shows the sound speed profile in the water measured in the consort ship position. It is a figure which shows the ConvergenceZone propagation path through which the sound wave from the transmission position of the ship is propagated to the reception position of the consort ship. It is a figure which shows the Convergence Zone propagation path before and after correction | amendment from the transmission position of the own ship to the reception position of a consort ship. It is a figure for demonstrating related technology, and is a figure which shows the typical sound speed profile in water. It is a figure which shows the propagation path in the water of the sound wave which generate | occur | produces with the typical sound speed profile shown in FIG.

  This invention minimizes the calculation error of the horizontal distance to an underwater object by using several measured sound speed profiles that can be actually obtained in the ocean where the sound speed profile changes in the distance direction. A system for calculating the horizontal distance to underwater objects that can be used. In addition, by using several measured sound velocity profiles, the horizontal distance to the underwater object can be minimized by minimizing the calculation error of the horizontal distance to the underwater object due to the effects of observation errors and fluctuations during sound wave propagation. The system is realized. Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

Embodiment 1

First, a horizontal distance calculation system to an underwater object according to a first embodiment of the present invention will be described.
FIG. 1 is a block diagram showing the configuration of a system for calculating a horizontal distance to an underwater object according to the first embodiment of the present invention. First, the overall configuration will be described. The horizontal distance calculation system 20 includes a sound wave propagation path calculation means 21, a sound wave propagation time calculation means 22, a position measurement means 23, a measurement horizontal distance calculation means 24, and a sound wave propagation path correction means 25. .

Next, each part of the apparatus will be described. The sound wave propagation path calculation means 21 calculates a sound wave propagation path to an underwater object based on a sound velocity profile that shows different sound wave propagation characteristics for each underwater layer. The sound wave propagation time calculation unit 22 calculates the sound wave propagation time based on the transmission time when the sound wave is transmitted from the transmission object and the reception time when the reception object receives the sound wave transmitted from the transmission object. The position measuring means 23 measures the position of the transmitting object on the water surface and the position of the receiving object on the water surface, respectively. The measurement horizontal distance calculating unit 24 on the basis of the position of the water surface of the transmission object and receiving an object position measuring device 23 is measured, to calculate a measure horizontal distance between the transmitting object and a receiving object. The sound wave propagation path correction means 25 corrects the sound wave propagation path calculated by the sound wave propagation path calculation means 21 based on the measured horizontal distance calculated by the measurement horizontal distance calculation means 24 to generate a corrected sound wave propagation path. In the above configuration, the horizontal distance to the underwater object is accurately calculated based on the corrected sound wave propagation path corrected by the sound wave propagation path correction unit 25.

  FIG. 2 is a flowchart showing an example of the operation flow of the horizontal distance calculation system according to the first embodiment of the present invention. Moreover, FIG. 3 is a figure which shows the sound speed profile in the water measured in the ship's position, and the horizontal axis shows the sound speed and the vertical axis shows the water depth. Further, FIG. 4 is a diagram showing the underwater sound velocity profile measured at the position of the warship, where the horizontal axis indicates the sound velocity and the vertical axis indicates the water depth. FIG. 5 is a diagram showing a Convergence Zone propagation path in which sound waves from the transmitting position of the ship are propagated to the receiving position of the consort ship, where the horizontal axis indicates the distance and the vertical axis indicates the water depth. Further, FIG. 6 is a diagram showing the Convergence Zone propagation path before and after correction from the transmission position of the own ship to the reception position of the consort ship, with the horizontal axis indicating the distance and the vertical axis indicating the water depth.

  The operation flow of the horizontal distance calculation system according to the first embodiment of the present invention will be described below with reference to the flowchart shown in FIG. The flow of the flowchart will be described with reference to FIGS. 7, 8, 3, 4, 5, and 6 as appropriate. In the following description, the case where the own ship and the consort ship measure the sonic profile will be described, but the sonic profile may be measured using a sonobuoy or the like.

In FIG. 2, first, the sound velocity profile 11 of the ship's position is measured at the ship's transmission position 5 shown in FIG. The sound speed profile 11 of the ship position measured here is as shown in FIG. 3 (step S1). Next, using only the sound velocity profile 11 of the ship position shown in FIG. 3, as shown in FIG. 8 , the sound ray path (sound wave propagation of the Surface Duct propagation path 8, the Bottom Bounce propagation path 9, and the Convergence Zone propagation path 10 is used. (Path) is calculated (step S2). This sound ray path can be calculated by sound ray theory based on Snell's law, and the relationship between the propagation time and the horizontal distance is derived.

  Here, based on the Surface Duct propagation path 8, Bottom Bounce propagation path 9, and Convergence Zone propagation path 10 shown in FIG. 7, the propagation path for which the horizontal distance calculation error between horizontal objects is to be suppressed is specified. Here, a description will be given assuming that the propagation path for which the calculation error of the horizontal distance between horizontal objects is to be suppressed is specified as the Convergence Zone propagation path 10.

  Next, a consort ship, a sonobuoy, etc. are arrange | positioned on the propagation path of the Convergence Zone propagation path 10 identified by step S2 (step S3). In this description, as shown in FIG. 5, it is assumed that the reception position 12 of the consort ship is placed on the propagation path of the Convergence Zone propagation path 10.

  Next, at the receiving position 12 of the consort ship shown in FIG. 5, the sound velocity profile 13 (see FIG. 4) of the consort ship position is measured (step S4). Further, linear interpolation is performed in the distance direction using the sonic profile 11 of the ship's transmission position 5 measured as shown in FIG. 3 and the sonic profile 13 of the fellow ship's reception position 12 measured as shown in FIG. Then, the sound velocity profiles linearly interpolated by the two sound velocity profiles are calculated and held for each minute constant distance interval. In addition, a sound velocity profile measured by another ship, Sonobui, etc. is further added between the sound velocity profile 11 at the sending position 5 of the own ship and the sound velocity profile 13 at the receiving position 12 of the fellow ship, and linear interpolation is performed with a plurality of sound velocity profiles. May be calculated (step S5).

  Next, the sound wave propagation path calculation means 21 calculates a sound ray path like the sound wave propagation path 10 shown in FIG. 5 using the sound velocity profile calculated for every minute constant distance interval held in step S5 (step S5). S6).

  Further, the sound wave propagation time calculation means 22 notifies the transmission time of the sound wave transmitted from the own ship to the consort ship and Sonobui in advance using satellite communication and ground wave radio waves, etc. Upon reception, the measurement propagation time required for actual sound wave propagation is calculated based on the reception time and the previously notified transmission time. Further, the position measuring means 23 measures the accurate transmission position at the time of transmission of the sound wave from the own ship using GPS or the like, and also notifies the communal ship, Sonobui, etc. about the transmission position, thereby measuring the horizontal distance. The calculation means 24 calculates the measured horizontal distance from the position of the own ship at the time of transmission and the position of a consort ship, sonobuoy, etc. at the time of reception (step S7).

  As a result, as shown in FIG. 6, the Convergence Zone propagation path 10 calculated using the sound speed profile 11 at the transmission position 5 of the own ship shown in FIG. 3 and the sound speed profile 13 at the reception position 12 of the fellow ship shown in FIG. For the calculated horizontal distance 14, the sound wave propagation path correcting means 25 uses the measured horizontal distance 16 calculated based on the accurate transmission position 5 of the own ship and the consort ship position 15 measured by GPS or the like, and the Convergence Zone propagation. The path 10 is corrected. The correction method at this time is shown in FIG. 6 by simply multiplying the ratio of the measured horizontal distance 16 / calculated horizontal distance 14 to the points at fixed distance intervals on the sound ray indicated by the Convergence Zone propagation path 10. Thus, the corrected sound ray (corrected Convergence Zone propagation path) 17 can be obtained (step S8).

  For example, when a certain point on the Convergence Zone propagation path 10 is (horizontal distance a, water depth b), the corrected point is obtained by (horizontal distance a × measured horizontal distance 16 / calculated horizontal distance 14, water depth b). be able to. As shown in FIG. 6, the corrected Convergence Zone propagation path 17 obtained by this correction method is a relational expression for determining a more accurate horizontal propagation distance if the propagation time of the sound wave is known.

  Next, the ship's sonar system calculates the propagation time to the underwater object by receiving the echo sound from the underwater object (underwater target) and subtracting the transmission time at the time of the ship's transmission from the reception time of the echo sound. (Step S9). Finally, the propagation time to the underwater object measured in step S9 is set as the propagation time in the corrected Convergence Zone propagation path 17 obtained by the sound ray correction in step S8. The horizontal propagation distance to the underwater object is represented by the horizontal distance R [m / s] = set sound speed Vs [m / s] × sound wave propagation time T [sec] to the underwater object, which is the relational expression of the horizontal propagation distance shown. It can be calculated accurately (step S10).

As described above, in the sonar system of this embodiment, the sound wave propagation time to the underwater object is measured according to the operation flow of the horizontal distance calculation system to the underwater object, and the underwater object is determined based on the sound wave propagation time and the sound velocity at this time. The horizontal distance to is calculated.
Therefore, in order to respond to changes in the degree of refraction of sound rays and changes in sound speed at each propagation depth, sound speed profiles measured at the ship's transmission position and sound speed profiles measured using a consort ship, Sonobui, etc. The sound wave propagation path to the underwater object can be accurately calculated on the basis of the sound velocity profile.

  In addition, the measured propagation time calculated from the transmission time when the sound wave was transmitted from the ship and the reception time when the transmission sound transmitted from the ship was received by the warship or sonobuoy, the transmission position of the ship and the reception position of the warship or sonobuoy The horizontal distance to the underwater object can be calculated more accurately by correcting the sound wave propagation path to the underwater object using the measured horizontal distance calculated from the GPS and the like. The calculation error of the horizontal distance can be kept low.

Embodiment 2

  In the above-described first embodiment, in step S7 in FIG. 2, the sound wave transmitted by the ship is received by the consort ship and the sound wave propagation time and the measured horizontal distance are calculated. However, in the second embodiment of the present invention, the step In S7, contrary to the own ship, the sound wave propagation time and the measured horizontal distance can be calculated by receiving the sound wave transmitted from the consort ship by the own ship. In the first embodiment, in step S2 in FIG. 2, the sound ray path (sound wave propagation path) is calculated when the propagation path for which the calculation error of the horizontal distance between horizontal objects is to be suppressed is specified as the Convergence Zone propagation path. However, in the second embodiment, even if the propagation path for which the calculation error of the horizontal distance between horizontal objects is to be suppressed is specified as the Surface Duct propagation path or the Bottom Bounce propagation path in step S2 of FIG. It is possible to accurately calculate the horizontal distance to an underwater object while suppressing the above.

  As described above, in the horizontal distance calculation system of this embodiment, when obtaining the sound wave propagation path, in order to cope with the change in the degree of refraction of the sound ray and the change in the sound velocity at each propagation depth, A plurality of sound velocity profiles are measured by using a sonobuoy or the like. Then, a sound wave propagation path to the underwater object is calculated based on the plurality of measured sound velocity profiles. In addition, the sound wave propagation time calculated based on the transmission time transmitted from the ship and the reception time received from the ship transmitted sound by the fellow ship or Sonobui, and the position of the ship and the position of the fellow ship or Sonobui using GPS or the like. Measure and correct the sound wave propagation path to the underwater object using the measured horizontal distance. Therefore, the horizontal distance to the underwater object can be calculated more accurately.

  In addition, the horizontal distance calculation system to an underwater object according to the present invention uses several measured sound velocity profiles that can be practically acquired in the ocean where the sound velocity profile changes in the distance direction in which sound waves propagate. Thus, the calculation error of the horizontal distance to the underwater object can be minimized.

  Further, the system for calculating the horizontal distance to an underwater object according to the present invention linearly interpolates a plurality of data of sound velocity profiles in the distance direction, thereby calculating the horizontal distance to the underwater object due to the influence of observation errors and fluctuations during sound wave propagation. Calculation errors can be minimized. In addition, the sound velocity profile measured by other ships, Sonobui, etc. is added between the sound velocity profile of the ship's position and the warship position, and the horizontal distance to the underwater object is calculated by linear interpolation with multiple sound velocity profiles. Thus, the calculation error of the horizontal distance to the underwater object can be further reduced.

  In addition, the horizontal distance calculation system to the underwater object according to the present invention is not limited to the Convergence Zone propagation path, and even when the Surface Duct propagation path and the Bottom Bounce propagation path are specified as the sound wave propagation path, the horizontal distance to the underwater object is calculated. Calculation errors can be kept low.

  Although the embodiments of the present invention have been described in detail with reference to the drawings, the specific configuration of the present invention is not limited to these embodiments, and the design does not depart from the spirit of the present invention. These changes are included in the present invention. For example, in the above embodiment, the horizontal distance calculation system to the underwater object in the ocean has been described, but the present invention can also be applied to a horizontal distance calculation system to the underwater object in the lake water.

  The horizontal distance calculation system to an underwater object according to the present invention can be effectively used for exploration of fishing reefs in fishing boats, investigation of sunken ships in ships and exploration of submarines.

1 Typical sound velocity profile 2 Mixing layer 3 Water temperature climatic layer 4 Deep sea isothermal layer 5 Ship's transmission position 6 Seabed 7 Sea surface 8 Surface Duct propagation path 9 Bottom Bounce propagation path 10 Convergence Zone propagation path 11 Sound velocity profile at own ship position 12 Receiving position 13 Sound velocity profile of the warship position 14 Convergence zone propagation path calculation horizontal distance 15 Accurate warship position measured by GPS 16 Measurement horizontal distance 17 Convergence zone propagation path after correction 20 Horizontal distance calculation system to underwater objects 21 Sound wave propagation path calculation means 22 Sound wave propagation time calculation means 23 Position measurement means 24 Measurement horizontal distance calculation means 25 Sound wave propagation path correction means

Claims (10)

A horizontal distance calculation system for calculating a horizontal distance to an underwater object by transmitting and receiving sound waves,
Different wave propagation speed of sound indicates the characteristic profile and the transmission object transmission time wave is transmitted from the receiving object sonic propagation time calculated from the reception time of receiving the waves transmitted from the transmission object for each layer of water based on the bets, represented by the depths of the horizontal distance and the vertical axis of the abscissa, and the sound propagation path calculation means for calculating the sound propagation path to the previous SL underwater objects as the receiving object,
A position measuring means for measuring a position on the water surface before Symbol transmitting object position on the water surface of the receiving object, respectively,
Based on the position on the water surface of the transmission object and the receiving object the position measuring means to measure, the measurement horizontal distance calculating means for calculating a measured horizontal distance between the transmission object and the receiver object,
A calculated horizontal distance calculating means for calculating a calculated horizontal distance between the transmitting object and the receiving object based on the sound wave propagation path calculated by the sound wave propagation path calculating means;
Based on the calculated horizontal distance the counted measuring horizontal distance calculating unit horizontal distance as measurement is calculated the calculated horizontal distance calculation means has calculated, corrected by correcting the sound propagation path, wherein the wave propagation path calculation means has calculated And a sound wave propagation path correcting means for generating a sound wave propagation path,
A horizontal distance calculation system for an underwater object, wherein a horizontal distance to the underwater object is calculated based on the corrected sound wave propagation path corrected by the sound wave propagation path correction means.   2. The sound speed profile is obtained by linearly interpolating a plurality of data measured at a plurality of positions where the sound speed profile changes in a distance direction in which the sound wave propagates in the distance direction. The horizontal distance calculation system to the described underwater object.   3. The sound velocity profile is obtained by linearly interpolating data measured at the position of the transmitting object and data measured at the position of the receiving object. Horizontal distance calculation system. The sound wave propagation path calculation means minimizes the sound wave propagation path calculation error due to the influence of observation errors and fluctuations during sound wave propagation by linearly interpolating a plurality of data of the sound velocity profile in the distance direction. horizontal distance calculation system to underwater objects according to claim 2 Symbol mounting features.   The sound wave propagation path calculation means is a Convergence Zone propagation path in which the sound wave is refracted downward in the water temperature climatic layer and further refracted upward in the deep sea isothermal layer, and the sound wave propagates while being refracted upward in the mixed layer. Specify at least one propagation path of the Surface Duct propagation path that repeats the phenomenon of being reflected while being reflected at the sea surface and being refracted upward again, or the Bottom Bounce propagation path where sound waves are reflected at the sea floor and reach the sea surface. 5. The horizontal distance calculation system to an underwater object according to claim 1, wherein a sound wave propagation path to the underwater object is calculated. A horizontal distance calculation method for calculating a horizontal distance to an underwater object by transmitting and receiving sound waves,
Different wave propagation speed of sound indicates the characteristic profile and the transmission object transmission time wave is transmitted from the receiving object sonic propagation time calculated from the reception time of receiving the waves transmitted from the transmission object for each layer of water based on the bets, represented by the depths of the horizontal distance and the vertical axis of the abscissa, and the sound propagation path calculating process for calculating the sound propagation path to the previous SL underwater objects as the receiving object,
A position measurement processing for measuring the position of the water surface position and the receiving object on the water surface before Symbol transmission object, respectively,
Based on the position on the water surface of the transmission object and the receiving object measured by the position measurement processing, and measuring the horizontal distance calculation processing for calculating the measured horizontal distance between the receiving object and the transmission object,
A calculated horizontal distance calculation process for calculating a calculated horizontal distance between the transmission object and the reception object based on the sound wave propagation path calculated in the sound wave propagation path calculation process;
Based on the calculated horizontal distance calculated by the calculation horizontal distance calculation and measurement horizontal distance calculated by the horizontal distance calculation processing measuring the count, corrected to the sound propagation path calculated by the wave propagation path calculation processing And a sound wave propagation path correction process for generating a corrected sound wave propagation path ,
Based on the corrected sound propagation path correct complement in the wave propagation path correction, horizontal distance calculation method of the Turkey to calculate the horizontal distance to the underwater object to underwater objects characterized.   The sound velocity profile is obtained by linearly interpolating a plurality of data measured at a plurality of positions where the sound velocity profile changes in a distance direction in which the sound wave propagates in the distance direction. The horizontal distance calculation method to the underwater object of description.   8. The sound velocity profile is obtained by linearly interpolating data measured at the position of the transmitting object and data measured at the position of the receiving object. Horizontal distance calculation method. In the sound wave propagation path calculation process, a plurality of data of the sound velocity profile are linearly interpolated in the distance direction, thereby minimizing the sound wave propagation path calculation error due to the influence of observation errors and fluctuations during sound wave propagation. horizontal distance calculation method to underwater objects according to claim 7 Symbol mounting features.   In the sound wave propagation path calculation process, the sound wave is refracted downward in the water temperature climatic layer, and further the Convergence Zone propagation path is refracted upward in the deep sea isothermal layer, and the sound wave propagates while being refracted upward in the mixed layer. Specify at least one propagation path of the Surface Duct propagation path that repeats the phenomenon of being reflected while being reflected at the sea surface and being refracted upward again, or the Bottom Bounce propagation path where sound waves are reflected at the sea floor and reach the sea surface. 10. A method for calculating a horizontal distance to an underwater object according to claim 6, 7, 8, or 9, wherein a sound wave propagation path to the underwater object is calculated.

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