JP5287890B2 - Underwater object search planning support method and apparatus - Google Patents

Description

  The present invention relates to a technique for supporting the planning of a search plan for searching for an underwater object that is latent in the ocean.

  A sonar system for searching for underwater objects in the ocean is known.

  As an example of the sonar system, a searcher such as a surface ship or an aircraft searches for an underwater object by radiating a sound wave into the ocean and receiving an echo sound from the underwater object (see Patent Document 1). (Hereinafter referred to as the first sonar system).

  As another example of a sonar system, there is a searcher that searches for an underwater object while listening to engine sound and screw sound generated while the underwater object travels without emitting sound waves into the ocean. (Hereinafter referred to as the second sonar system).

  So far, search plans for underwater objects have been drafted by commanders relying on experience and know-how from training and tactical research.

JP 2006-284257 A

  By the way, in the first sonar system, the underwater object can detect where the sound wave is radiated from when the searcher radiates the sound wave into the ocean to search for the underwater object. Here, the distance that the underwater object can detect the searcher is about twice the distance that the searcher can detect the underwater object.

  Also, in the second sonar system, underwater objects are smaller in hull and less in engine sound and screw sound than searchers, so it is better for underwater objects to detect underwater objects. It is considered more advantageous than detecting.

  Thus, in the sonar system, the underwater object can take an avoidance action before the searcher detects it.

  The avoidance action of underwater objects is to search for a safe distance that prevents these sounds from reaching the searcher in order to avoid echoes, engine sounds and screw sounds reaching the searcher and being detected by the searcher. The action of securing it between the machines can be considered. In addition, in order to prevent the sound wave radiated into the ocean from being detected by the searcher by surface propagation that propagates through the surface layer part, it is possible to submerge to a deeper water depth or to reduce the area where the sound wave emitted by the searcher hits. Actions such as changing the course in order to reduce the reverberant sound by reducing it are also conceivable.

  However, humans are limited in time to assume these avoidance actions and take countermeasures. This allowed the commander to consider only a few patterns of avoidance when planning a search for underwater objects.

  As mentioned above, when planning a search plan for an underwater object, the commander cannot devise every avoidance action pattern that the underwater object can take, so it should formulate a search plan that searches for an underwater object efficiently. There was a problem that it was not possible.

  Therefore, an object of the present invention is to provide an underwater object search planning support method and apparatus capable of solving the above-described problems.

The underwater object search planning support method of the present invention,
An underwater object search plan support method performed by an underwater object search plan support device that supports the planning of a search plan for searching for an underwater object in the ocean,
A setting step of setting a plurality of avoidance action patterns of the underwater object and occurrence probabilities of each of the plurality of avoidance action patterns in a storage unit;
A simulation step of starting a simulation of avoiding the underwater object according to an avoidance action pattern according to the occurrence probability, with the state where the underwater object is uniformly distributed in a search area as an initial state;
And a display step for displaying the presence distribution of the underwater object in the search area after the simulation on a display unit.

Underwater object search planning support device of the present invention,
An underwater object search planning support device that supports the planning of a search plan for searching for an underwater object latent in the ocean,
A display unit;
A storage unit in which a plurality of avoidance action patterns of the underwater object and occurrence probability of each of the plurality of avoidance action patterns are set;
Starting a state in which the underwater objects are uniformly distributed in the search area as an initial state, starting a simulation for avoiding the underwater objects according to the avoidance action pattern according to the occurrence probability, and the simulation in the search area after the simulation A simulation unit that displays the presence distribution of the underwater object on the display unit.

  According to the present invention, a plurality of underwater object avoidance action patterns and respective occurrence probabilities are set in advance, and the state in which the underwater objects are uniformly distributed in the search area is set as an initial state, and the occurrence probability is determined. A simulation for avoiding an underwater object according to an avoidance action pattern is performed.

  Therefore, in the case of searching for an underwater object that takes an avoidance action before the searcher detects it, it is possible to perform a simulation assuming all avoidance action patterns that the underwater object can take.

  In addition, since the underwater object's presence distribution after the simulation is displayed, the underwater object's avoidance action causes the existence distribution to be biased, and the part where the underwater object gathers partially or the underwater object already escapes and exists It is possible to visualize the parts that are not.

  Therefore, the commander can intuitively grasp the bias in the distribution of the existence of underwater objects, and the search efficiency of the underwater objects is good. It is possible to give the commander a visual awareness that the detection efficiency of the object is poor and the search is performed while avoiding the place where the underwater object does not already exist.

  From the above, the commander can devise a search plan that is more efficient than a search plan that relies on experience and know-how. In addition, since the presence distribution is visually displayed, intuitive recognition is possible, so that it is possible to shorten the time required for decision making for the search plan.

It is a block diagram which shows an example of a structure of the underwater object search plan planning assistance apparatus of the 1st and 2nd embodiment of this invention. It is a flowchart explaining an example of the flow of the underwater object search plan planning assistance method of the 1st Embodiment of this invention. It is a figure which shows an example of the simulation condition before the simulation start. It is a figure which shows an example of the simulation condition of simulation vicinity. It is a figure which shows an example of the simulation condition near simulation middle. It is a contour figure which shows an example of presence distribution of the underwater object after simulation. It is a figure explaining an example of the underwater object search plan planning support method of the 2nd Embodiment of this invention.

EMBODIMENT OF THE INVENTION Below, the form for implementing this invention is demonstrated with reference to drawings.
(1) 1st Embodiment FIG. 1: is a block diagram which shows an example of a structure of the underwater object search plan planning assistance apparatus of this embodiment.

  As shown in FIG. 1, the underwater object search plan planning support apparatus according to the present embodiment performs various settings when performing simulation that simulates an underwater object avoidance action with an input unit 101 operated by an operator. The storage unit 102, the simulation unit 103 that performs the simulation according to the setting content set in the storage unit 102, the display unit 104 that displays the simulation status performed in the simulation unit 103, and the control that performs overall control of the apparatus Part 105.

  Below, the underwater object search plan planning support method by the underwater object search plan planning support apparatus of this embodiment is demonstrated with reference to FIG.

  FIG. 2 is a flowchart for explaining an example of the flow of the underwater object search plan planning support method by the underwater object search plan planning support apparatus of the present embodiment.

  As shown in FIG. 2, first, the control unit 105 sets, in the storage unit 103, a search period and a search region in which an underwater object search operation is deployed in accordance with an operation of the operator (step S1).

  Next, the control unit 105 sets wind speed, wave height, sea bottom quality, ambient noise, and the like in the storage unit 103 as marine environment information in accordance with the operation of the operator (step S2).

  Next, the control unit 105 sets target strength, which is basic information of the underwater object, in the storage unit 103 in accordance with the operation of the operator. Further, the behavior definition of the normal behavior / avoidance behavior of the underwater object is set in the storage unit 103 (step S3).

  Specifically, the traveling speed and the existence depth are set as the normal action pattern during the normal action of the underwater object.

  Also, a plurality of avoidance action patterns that can be taken by the underwater object during the avoidance action, and occurrence probabilities representing the probability of taking the avoidance action by the avoidance action pattern are set.

  For example, the following setting can be made as an avoidance action pattern of an underwater object and its occurrence probability.

  Next, the control part 105 sets the search machine to throw in the memory | storage part 103 according to operator's operation. Or the search machine to add newly is set to the memory | storage part 103 (step S4).

  At this time, the operator predicts, using the sonar equation, the distance that the searcher (or sonar) to be inserted or added can detect the underwater object, and sets it in the storage unit 103 as a detection area. The operator also uses the sonar equation to predict the distance at which the underwater object is radiating sound waves when the searcher to be added or added emits sound waves into the ocean. Conversely, it is set in the storage unit 103 as the detected area 7 where the search machine is detected.

  Next, the control unit 105 sets, in the storage unit 103, the course and speed when the searcher to be moved moves according to the operation of the operator (step S5).

Thereafter, the simulation unit 103 starts a simulation for simulating underwater object avoidance behavior according to the setting content set in the storage unit 103. Specifically, the searcher is moved according to the course and speed set in the storage unit 103, and the underwater object is caused to act according to the action definition set in the storage unit 103. Moreover, the display part 104 displays a simulation condition, and updates the display content sequentially for every time (step S6).
Here, the display of the simulation status will be described with reference to FIGS. 3 to 5 are horizontal plan views of a certain sea area on the map as viewed from above.

  FIG. 3 is a diagram illustrating an example of a simulation state before the simulation is started.

  As shown in FIG. 3, it is assumed that a plurality of underwater objects 2 in normal action are uniformly distributed in the search area 1 before the simulation is started. In addition, the action content at the time of the normal action of the underwater object 2 shall follow the action definition set in step S3.

  FIG. 4 is a diagram illustrating an example of a simulation situation in the vicinity of the simulation start.

  As shown in FIG. 4, first, the simulation unit 103 arranges the surface ship 3 as the search aircraft set in step S4, and moves the surface ship 3 according to the course and speed set in step S5. In this example, the surface ship 3 has moved like a wake 4.

  Here, the simulation unit 103 displays the detection area 5 of the surface ship 3 set in step S4. At this time, when the underwater object 2 that normally operates enters the detection area 5, the underwater object 2 is displayed so as to be understood by the operator like the already discovered underwater object 6. Sort and delete from simulation.

  The simulation unit 103 also displays the detected area 7 of the surface ship 3 set in step S4. At this time, when the underwater object 2 that is normally acting enters the detected region 7, the underwater object is caused to perform an avoidance action according to the avoidance action pattern corresponding to the occurrence probability set as the action definition in step S3. As this method, for example, a random number corresponding to the occurrence probability is assigned in advance to each of a plurality of avoidance action patterns, and then a pseudo random number is generated, and the generated random number is assigned. A method of taking an avoidance action with an avoidance action pattern is conceivable. At this time, the underwater object 2 that has transitioned from the normal action to the avoidance action is displayed so as to be understood by the operator, like the underwater object 8 being in the avoidance action.

  FIG. 5 is a diagram illustrating an example of a simulation situation near the middle of the simulation.

  As shown in FIG. 5, when the underwater object takes an avoidance action according to the action definition set in step S3, the existence distribution of the underwater object is biased, and the part where the underwater object gathers partially or the underwater object has already been detected. The existence distribution becomes coarse, for example, there are places that do not exist by running away.

  Finally, the simulation unit 103 displays the presence distribution of the underwater objects in the operation region 1 after the simulation in a shaded manner with a contour diagram in order to improve the visibility of the operator. An example of this contour diagram is shown in FIG.

  As described above, in the present embodiment, a plurality of underwater object avoidance action patterns and respective occurrence probabilities are set in advance, and the state in which the underwater objects are uniformly distributed in the search area is set as an initial state. A simulation for avoiding an underwater object according to an avoidance action pattern corresponding to the probability is performed.

  Therefore, in the case of searching for an underwater object that takes an avoidance action before the searcher detects it, it is possible to perform a simulation assuming all avoidance action patterns that the underwater object can take.

  In addition, since the underwater object's presence distribution after the simulation is displayed, the underwater object's avoidance action causes the existence distribution to be biased, and the part where the underwater object gathers partially or the underwater object already escapes and exists It is possible to visualize the parts that are not.

  Therefore, the commander can intuitively grasp the bias in the distribution of the existence of underwater objects, and which part of the search is the best to capture the underwater objects, and reliably capture the underwater objects. Therefore, it is possible to give the commander a visual awareness, such as preliminarily deploying a search machine to create a barrier without creating an escape route.

As described above, the commander can realize a more efficient search plan and can shorten the time required for decision making.
(2) 2nd Embodiment FIG. 7: is a figure explaining an example of the underwater object search plan planning support method by the underwater object search plan planning support apparatus of this embodiment. Note that the configuration itself of the underwater object search plan planning support device of the present embodiment is the same as that of the first embodiment.

  In the present embodiment, when an underwater object is actually detected by the surface ship 3, the control unit 105 sets the detection position of the actually detected underwater object in the storage unit 103 in accordance with the operation of the operator.

  Then, as shown in FIG. 7, the simulation unit 103 includes a plurality of underwater objects 8 that perform avoidance actions in an error circle 9 centered on the detection position of the actually detected underwater object during the subsequent simulation. Deploy.

  Thereby, it is also possible to support the planning of a search plan in which continuous detection of an underwater object after actual detection is reliably performed.

  In addition, after the actual detection, it is possible to visualize how much the existing distribution of the underwater distribution expands after a lapse of time when the continuous detection cannot be performed from the state where the existing distribution of the underwater objects is gathered at the detection position. .

DESCRIPTION OF SYMBOLS 1 Search area 2 Underwater object under normal action 3 Surface ship 4 Wake 5 Detection area 6 Discovered underwater object 7 Detected area 8 Underwater object under avoidance action 9 Centering on detection position of actually detected underwater object Error circle

Claims (8)

An underwater object search plan support method performed by an underwater object search plan support device that supports the planning of a search plan for searching for an underwater object in the ocean,
A setting step of setting a plurality of avoidance action patterns of the underwater object and occurrence probabilities of each of the plurality of avoidance action patterns in a storage unit;
A simulation step of starting a simulation of avoiding the underwater object according to an avoidance action pattern according to the occurrence probability, with the state where the underwater object is uniformly distributed in a search area as an initial state;
A display step of displaying a presence distribution of the underwater object in the search area after the simulation on a display unit. In the setting step,
A normal action pattern of the underwater object, a course and speed when a searcher searching for the underwater object moves in the search area, and a detected area in which the searcher is detected reversely by the underwater object. Further setting in the storage unit,
In the simulation step,
The searcher is moved in the search area according to the course and speed, and the underwater object is avoided when the underwater object that has been normally acting according to the normal action pattern enters the detected area of the searcher. The underwater object search planning support method according to claim 1, wherein the underwater object search plan is made to act. In the setting step,
Further setting a detection area in which the searcher can detect an underwater object in the storage unit,
In the simulation step,
The underwater object search planning support method according to claim 2, wherein the underwater object that has entered the detection area of the search machine is excluded from simulation. In the setting step,
Further setting the detection position of the underwater object actually detected by the search machine in the storage unit,
In the simulation step,
The underwater object search plan planning support method according to claim 2 or 3, wherein a plurality of underwater objects taking an avoidance action are arranged in an error circle centered on a detection position of the underwater object actually detected by the search machine. . An underwater object search planning support device that supports the planning of a search plan for searching for an underwater object latent in the ocean,
A display unit;
A storage unit in which a plurality of avoidance action patterns of the underwater object and occurrence probability of each of the plurality of avoidance action patterns are set;
Starting a state in which the underwater objects are uniformly distributed in the search area as an initial state, starting a simulation for avoiding the underwater objects according to the avoidance action pattern according to the occurrence probability, and the simulation in the search area after the simulation An underwater object search planning support device, comprising: a simulation unit that displays an underwater object presence distribution on the display unit. The storage unit
A normal action pattern of the underwater object, a course and speed when a searcher searching for the underwater object moves in the search area, and a detected area in which the searcher is detected reversely to the underwater object, Set further,
The simulation unit
The searcher is moved in the search area according to the course and speed, and the underwater object is avoided when the underwater object that has been normally acting according to the normal action pattern enters the detected area of the searcher. The underwater object search plan planning support device according to claim 5, which is acted on. The storage unit
A detection area where the searcher can detect an underwater object is further set,
The simulation unit
The underwater object search planning support device according to claim 6, wherein the underwater object that has entered the detection area of the search machine is excluded from simulation. The storage unit
The detection position of the underwater object actually detected by the searcher is further set,
The simulation unit
The underwater object search plan planning support device according to claim 6 or 7, wherein a plurality of underwater objects taking an avoidance action are arranged in an error circle centered on a detection position of the underwater object actually detected by the searcher. .

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