JPH01195600A - Collision warning device for underwater boat - Google Patents

Abstract

PURPOSE:To output a high-reliability collision warning with high accuracy by providing various sensors, a motion characteristic characteristic memory, a motion state quantity calculating means, a depth predicting means, and a warning calculation output means, and predicting a collision in consideration of the motion state of the underwater boat. CONSTITUTION:Outputs of one or >=2 sensors among a steering angle sensor 1, a speed sensor 2, a depth sensor 2, and a pitch sensor 4 mounted on the underwater boat and the output of a motion acquisition memory 5 stored with the known motion characteristics of the underwater boat are inputted to a motion state quantity calculat ing means 6. The means 6 while performing the best estimation through a Karman filter by using those input signals calculates the motion state quantity of the under water boat. Then the depth predicting means 8 inputs the output of the means 6 through an estimated quantity smoothing circuit 7 and also inputs the known motion characteristics of the memory 5 and the speed signal from the sensor 2 to predict variation in the depth of the underwater boat. Then the outputs of the means 8 and an altitude sensor 9 are inputted to the warning calculation output means 10 to calcu late a collision predicted time, which is displayed on a warning display device 11, thereby outputting the high-reliability collision warning with high accuracy.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a collision warning system for a submersible, and particularly to a collision warning system for a submersible that is suitable for a submersible whose motion characteristics are known.

[Conventional technology]

Traditionally, collision warnings for submarines have been based on moment-by-moment depth information.

It was determined based on the intuition of an experienced person based on changes in altitude, etc., or was processed by simple calculations based on depth velocity at a certain point in time.

[Problems to be Solved by the Invention] However, in the conventional example described above, the conventional method relies on the intuition of an experienced person and simple proportional calculations, so there are many errors, and this reduces the reliability of the collision warning. It had the disadvantage of being low.

[Purpose of the invention]

SUMMARY OF THE INVENTION It is an object of the present invention to provide a collision warning system for a submersible that improves the inconveniences of the prior art and particularly improves the reliability of collision warning.

[Means to solve the problem] In the present invention, a rudder angle sensor is provided on a submersible.

It has a speed sensor, a depth sensor, a pitch angle sensor, and a motion characteristic memory that stores known motion characteristics of the submersible. The motion state quantity is calculated by inputting the sensor output and memory output on one or two sides of each sensor, and calculating the motion state quantity of the submersible while performing optimal estimation based on a Kalman filter using these human input signals. Equipped with calculation means.

The amount of motion state of the submersible obtained by this motion state calculation means, the known motion characteristics of the submersible stored in the memory,
It is equipped with depth prediction means that predicts depth changes of the submersible by inputting the speed signal output from the speed sensor. Furthermore, the system is configured to include an alarm calculation output means for calculating a predicted collision time based on the output of the depth prediction means and the output of an altitude sensor installed in advance on the submersible, and issuing an alarm. This aims to achieve the above-mentioned purpose.

[Embodiments of the invention]

An embodiment of the present invention will be described below with reference to FIGS. 1 and 2.

The embodiment shown in FIG. 1 includes a rudder angle sensor l installed on a submarine,
Speed sensor 2. A depth sensor 3 and a pitch angle sensor 4,
The submersible is also equipped with a motion characteristic memory 5 that stores known motion characteristics of the submersible.

The output of the sensor on one or two sides of these sensors and the output of the motion characteristic memory 5 are input, and these input signals are used to calculate the motion state of the submersible while performing optimal estimation based on the Kalman filter. The motion state amount calculating means 6 for calculating the amount is set by (liα).

The motion state quantity of the submersible obtained by this motion state quantity calculation means 6, the known motion characteristics of the submersible stored in the motion characteristic memory 5, and the speed signal υ output from the speed sensor 2 mentioned above are input. The vessel is equipped with depth prediction means 8 for predicting changes in depth of the submersible.

An alarm calculation output means IO is provided which inputs the output of the depth prediction means 8 and the output of an altitude sensor 9 installed in advance on the submersible, calculates a predicted collision time, and issues an alarm.

An estimator smoothing circuit 7 is provided between the motion state calculation means 6 and the depth prediction means 8. Further, an alarm display 11 is also provided to the alarm calculation output means IO.

To explain this in more detail, the steering angle sensor l outputs a latent steering angle signal β1 and a steering angle signal β.

is supplied to the motion state quantity calculation means 6. Here, FIG. 2 is a submersible rudder layout diagram showing the arrangement of the rudders of the submersible vessel 100, with 1. 2 for each side rudder shows an example of the operation.

The speed sensor 2 detects the speed υ of the submersible vessel 100 and sends it to the motion state quantity calculation means 6 and the depth prediction means 8.

The depth sensor 3 sends the depth data h to the movement state quantity calculation means 6.
send to. Similarly, the pitch angle sensor 4 sends the detected pitch angle θ to the motion state quantity calculation means 6.

The motion characteristic memory 5 stores previously known motion characteristics regarding the submersible vessel 100, which are read out and supplied to the motion state B amount calculation means 6 and the depth measurement means 8. The motion characteristics stored in this motion characteristic memory 5 are the motion characteristics of the submersible 1.
These contents are related to the unique items of the equation of motion of the submersible vessel 100, and these are determined in advance according to the design conditions and contents of the submersible vessel 100.

The motion state quantity calculating means 6 calculates the motion state Litf2t of the submersible vessel 100 using a Kalman filter based on the motion characteristic data of the submersible from the motion characteristic memory 5 and the observation data from each sensor. In filtering using this Kalman filter, the motion state of the submersible 100 is changed to an unbalanced type 12.
．． Optimal estimation is performed based on observed data detected over a certain period of time using a state equation with the unbalance moment M and depth state quantity as parameters, and an observation equation that expresses observed data in a state containing so-called noise such as detection errors. It looks like this.

Estimated values Z, M, T, h, 1. of the balanced weight, unbalanced moment depth, depth velocity, Vinci angle, and pitch angular velocity obtained by the motion state quantity calculation means 6. It becomes T.

The depth prediction circuit 8 calculates the motion state J! smoothed by the estimator smoothing circuit 7. ! ffi, the motion characteristic data of the submersible 100 from the motion characteristic memory 5, and the speed υ from the speed sensor 2.
Accordingly, the depth change 1f(L) after the current time is predicted and calculated.

The warning calculation circuit 10 calculates a predicted collision time based on the depth change prediction calculation result 1 ((L) from the depth prediction circuit 8 and the altitude data Ha from the altitude sensor 9, and sends a collision warning to the warning display 11. Send it in.

〔Effect of the invention〕

As described above, according to the present invention, the steering angle and the speed.

The method uses the output data of each sensor that detects depth, pitch angle, and altitude to calculate the submersible's motion state, and predicts collisions taking the submersible's motion state into consideration. It is possible to provide a collision warning system for a submarine that is unprecedented and excellent in that it is capable of outputting a highly reliable collision warning.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing an embodiment of the present invention, and FIG. 2 is an explanatory diagram showing an example of the position of a rudder of a submersible. l... Rudder angle sensor, 2... Speed sensor, 3... Depth sensor, 4... Pitch angle sensor, 5... Motion characteristic memory, 6... Motion state amount calculation means, 8. ... Depth prediction means, 9... Altitude sensor, lO... Alarm calculation output means.

Claims (1)

[Claims] (1) Rudder angle sensor and speed sensor installed on the submersible,
It has a depth sensor, a pitch angle sensor, and an interlocking characteristic memory that stores known motion characteristics of the submersible, and inputs the sensor output of one or more of the sensors and the memory output, An interlocking state quantity calculating means is provided which calculates the motion state quantity of the submersible while performing optimal estimation based on a Kalman filter using each of these input signals, and the motion state quantity of the submersible obtained by this motion state calculation means and the memory is equipped with a depth prediction means for predicting depth changes of the submersible by inputting the known motion characteristics of the submersible stored in the submersible and the speed signal output from the speed sensor; A collision warning system for a submersible vessel, characterized in that the submersible vessel is equipped with an alarm calculation output means that calculates a predicted collision time based on the output of an altitude sensor installed in advance on the submersible vessel and issues an alarm.