JP6089417B2 - Underwater object search planning support device, underwater object search planning support method and program - Google Patents

Description

  The present invention relates to an underwater object search plan planning support device, an underwater object search plan planning support method, and a program 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 a 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 (for example, Patent Documents). 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 emitted from the point where the searcher radiates the sound wave in the ocean in order 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.

  In this way, the commander who plans a search plan for underwater objects can determine the distance that the underwater object can detect the searcher and the distance that the searcher can detect the underwater object, as an advantage / disadvantage of the underwater object and the searcher. It was used as judgment material for search planning by guessing and comparing.

  However, it is not possible to judge the advantages and disadvantages of underwater objects and search aircraft only by the distance that can be detected, the number of search aircraft to be introduced, the configuration of the surface ship, aircraft, etc., the formation to be placed, the search Considering tactical aspects such as routes, there was a problem that the advantages and disadvantages of underwater objects and searchers could not be compared quantitatively.

  Conventionally, monostatic sonar operation, which is a method of searching for an underwater object by radiating a sound wave with the own machine and receiving an echo sound from the underwater object with the own machine, has been mainstream. However, in recent years, multi-static sonar operation, which is a method for searching for an underwater object by receiving an echo sound from the underwater object by a sound wave radiated by a wingman, has been attracting attention.

  On the other hand, in multi-static sonar operation, the distance that the searcher can detect an underwater object does not greatly improve the performance compared to monostatic sonar operation, and the self-machine does not radiate sound waves. The biggest feature is that the risk of being attacked by an underwater object can be avoided by detecting whether or not it is radiating and exposing its own location.

  Therefore, there is a problem that the advantage of the multi-static sonar operation cannot be expressed quantitatively only by the comparison based on the distance performance that can be simply detected.

  An object of the present invention is to provide an underwater object search plan planning support apparatus, an underwater object search plan support method, and a program that can solve the above-described problems.

Underwater object search planning support device of the present invention,
An underwater object search plan support device that supports the planning of a search plan in which a searcher searches for an underwater object that exists in the ocean,
A storage unit for storing a plurality of avoidance action patterns of the underwater object and occurrence probability of each of the plurality of avoidance action patterns;
A simulation unit that performs a simulation of avoiding the underwater object according to an avoidance action pattern according to the occurrence probability, with an initial state of the state in which the underwater object is uniformly distributed in a search area;
A display unit for displaying the presence distribution of the underwater object in the search area in the simulation,
The display unit displays the relationship between the number of underwater objects detected by the searcher and the number of underwater objects detected by the searcher, and the passage of time, so that the underwater object at the current time and the Quantitative display of the advantages and disadvantages of the search machine and the passage of time.

In addition, 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 in which a searcher searches for an underwater object that is latent in the ocean,
Setting a plurality of avoidance action patterns of the underwater object and occurrence probability of each of the plurality of avoidance action patterns in a storage unit;
Performing a simulation of avoiding the underwater object according to an avoidance action pattern according to the occurrence probability, with the initial state being a state in which the underwater object is uniformly distributed in a search area;
Displaying the presence distribution of the underwater object in the search area in the simulation;
Advantages of the underwater object and the searcher at the current time by displaying the relationship between the number of underwater objects detected by the searcher and the number of underwater objects detected by the searcher and the passage of time. The step of displaying the disadvantageous situation and the passage of time quantitatively is performed.

The program of the present invention is
A program for causing an underwater object search plan planning support apparatus that supports the planning of a search plan in which a searcher searches for an underwater object latent in the ocean,
A procedure for setting a plurality of avoidance action patterns of the underwater object and occurrence probability of each of the plurality of avoidance action patterns in a storage unit;
A procedure for performing a simulation for avoiding the underwater object according to an avoidance action pattern according to the occurrence probability, with an initial state of the state in which the underwater object is uniformly distributed in a search area;
A procedure for displaying the presence distribution of the underwater object in the search area in the simulation;
Advantages of the underwater object and the searcher at the current time by displaying the relationship between the number of underwater objects detected by the searcher and the number of underwater objects detected by the searcher and the passage of time. And a procedure for quantitatively displaying the disadvantageous situation and the passage of time.

  As described above, in the present invention, the advantages and disadvantages of the underwater object and the searcher can be recognized quantitatively.

It is a block diagram which shows an example of a structure of the underwater object search plan planning assistance apparatus of embodiment of this invention. It is a flowchart explaining an example of the flow of the underwater object search plan planning assistance method of 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 the presence distribution of the underwater object in simulation. It is a figure which shows an example of the time passage transition of the number of the underwater objects which the own apparatus in simulation detected and the number of the underwater objects which detected the own apparatus.

  EMBODIMENT OF THE INVENTION Below, the form for implementing this invention is demonstrated with reference to drawings.

  FIG. 1 is a block diagram illustrating an example of the configuration of the underwater object search plan planning support device of the present 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 This is an apparatus that supports the planning of a search plan in which a searcher searches for an underwater object that exists in the ocean.

  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 a search period and a search area in which a search operation for an underwater object is deployed in the storage unit 102 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 as the marine environment information in the storage unit 102 according to the operation of the operator (step S2).

  Next, the control unit 105 sets the target strength, which is basic information of the underwater object, in the storage unit 102 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 102 (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, as shown in Table 1, it is possible to set the avoidance action pattern of the underwater object and its occurrence probability.

  Next, the control part 105 sets the search machine to throw in the memory | storage part 102 according to operator's operation. Or the search machine to add newly is set to the memory | storage part 102 (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 102 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 102 as the detected area 7 where the searcher is detected.

  Next, in accordance with the operation of the operator, the control unit 105 sets the course and speed when the searcher to be inserted moves in the storage unit 102 (step S5).

  Thereafter, the simulation unit 103 starts a simulation of simulating an underwater object avoidance behavior according to the setting content set in the storage unit 102. Specifically, the searcher is moved according to the course and speed set in the storage unit 102, and the underwater object is caused to act according to the action definition set in the storage unit 102. Moreover, the display part 104 displays a simulation condition, and updates the display content for every time sequentially (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.

  Eventually, the simulation unit 103 displays the presence distribution of the underwater objects in the search area 1 after the simulation with a contour map 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.

  Here, in the present invention, as shown in FIG. 7 together with FIG. 6 which is an example in which the existence distribution of the underwater objects in the search area 1 after the simulation is displayed with a contour map, the number of underwater objects detected by the own aircraft as shown in FIG. As for the relationship between the number of underwater objects detected by the aircraft and the passage of time, the vertical axis represents the number of underwater objects detected by the aircraft and the number of underwater objects detected by the aircraft, while the horizontal axis represents the passage of time. The time lapse transition curve 9 of the number of underwater objects detected by the own aircraft and the time lapse transition curve 10 of the number of underwater objects detected by the own aircraft are displayed in graphs from time to time so that the underwater objects and the search aircraft at the current time can be displayed. Quantitative display of advantageous and unfavorable situations and time course.

  From the above, the commander quantitatively considers the number of search aircraft to be introduced, the configuration of the surface ships and aircraft at that time, the formations to be placed, and the tactical aspects such as the search route. It is possible to check the graph by comparing the advantages and disadvantages of the object and the search aircraft, and since the sound wave is not emitted from the aircraft, the risk of being attacked by an underwater object by exposing the location of the aircraft is avoided. Compare the conventional monostatic sonar operation quantitatively by checking the graph display of the time-lapse transition of the number of self-detected by underwater objects, the advantage of multi-static sonar operation, which is the biggest feature that can be done You can also.

7 is the number of underwater objects detected by the own device or the number of underwater objects detected by the own device, which is divided by the total number of underwater objects simulated by the simulation unit 103, and the ratio Each may be expressed as a discovery probability [%] as follows.
Probability of discovery of underwater objects [%] = (Number of underwater objects detected by own aircraft) / (Total number of underwater objects) [%]
Discovery probability [%] that the aircraft was found in an underwater object = (number of underwater objects that detected the aircraft) / (total number of underwater objects) [%]
The present invention described above has the following effects.

  The first effect is based on the number of search aircraft to be introduced, the configuration of the surface ships and aircraft at that time, the formations to be placed, and the tactical aspects such as the search route. And display that compares the advantages and disadvantages of searchers.

  The second effect is that it does not radiate sound waves from its own aircraft, so the advantage of multistatic sonar operation, which is the greatest feature that can avoid the risk of being attacked by underwater objects by exposing its own location, Compared to conventional monostatic sonar operation, it can be expressed quantitatively.

  The processing performed by each component provided in the above-described underwater object search planning support device may be performed by a logic circuit that is produced according to the purpose. In addition, a computer program (hereinafter referred to as a program) describing the processing contents as a procedure is recorded on a recording medium readable by the underwater object search plan planning support apparatus, and the program recorded on the recording medium is stored in the underwater object search plan. It may be read by the planning support apparatus and executed. Recording media that can be read by the underwater object search planning support device include transferable recording media such as floppy (registered trademark) disks, magneto-optical disks, DVDs, and CDs, as well as built-in underwater object search planning support devices. The storage unit 102, a memory such as a ROM or a RAM, an HDD, or the like. The program recorded on the recording medium is read by the control unit 105 provided in the underwater object search plan planning support device, and the same processing as described above is performed under the control of the control unit 105. Here, the control unit 105 operates as a computer that executes a program read from a recording medium on which the program is recorded.

DESCRIPTION OF SYMBOLS 1 Search area 2 Underwater object in normal action 3 Surface ship 4 Wake 5 Detection area 6 Discovered underwater object 7 Detected area 8 Underwater object in avoidance action 9 Time course curve of the number of underwater objects detected by own aircraft DESCRIPTION OF SYMBOLS 10 Time passage transition curve of the number of underwater objects detected by own device 101 Input unit 102 Storage unit 103 Simulation unit 104 Display unit 105 Control unit

Claims (5)

An underwater object search plan planning support device that supports the planning of a search plan in which a searcher detects an underwater object that exists in the ocean,
A storage unit that stores a plurality of avoidance action patterns that the underwater object takes to avoid detection of the searcher, and an occurrence probability of each of the plurality of avoidance action patterns;
A simulation unit that performs a simulation of avoiding the underwater object according to an avoidance action pattern according to the occurrence probability, with an initial state of the state in which the underwater object is uniformly distributed in a search area;
A display unit for displaying the presence distribution of the underwater object in the search area in the simulation,
The display unit detects the number of underwater objects detected by the searcher and the number of underwater objects detected by the searcher by detecting the sound waves emitted by the searcher to detect the underwater object. Underwater object search planning support apparatus that quantitatively displays the advantages and disadvantages of the underwater object and the searcher at the current time and the time course of the current time by displaying a graph of the relationship between the underwater object and the time. In the underwater object search plan planning support device according to claim 1,
The display unit displays the number of underwater objects detected by the searcher and the number of underwater objects detected by the searcher on the vertical axis and the elapsed time on the horizontal axis, and displays the graph every moment. Object search planning support device. In the underwater object search plan planning support device according to claim 1 or claim 2,
The display unit is expressed by a ratio of the number of underwater objects detected by the searcher and the number of underwater objects detected by the searcher to the total number of underwater objects simulated by the simulation unit. Object search planning support device. An underwater object search planning support method performed by an underwater object search plan support device that supports the planning of a search plan in which a searcher detects a submerged object that is latent in the ocean,
A plurality of avoidance action patterns that the underwater object takes in order to avoid detection of the searcher, and the occurrence probability of each of the plurality of avoidance action patterns in a storage unit;
Performing a simulation of avoiding the underwater object according to an avoidance action pattern according to the occurrence probability, with the initial state being a state in which the underwater object is uniformly distributed in a search area;
Displaying the presence distribution of the underwater object in the search area in the simulation;
The number of underwater objects detected by the searcher and the number of underwater objects detected by the searcher by detecting sound waves radiated to detect the underwater object, and the relationship between the passage of time, An underwater object search planning support method for performing a step of displaying quantitatively the advantages and disadvantages of the underwater object and the searcher at the current time and the passage of time over time by displaying the graph every moment. To the underwater object search plan planning support device that supports the planning of a search plan in which a searcher detects an underwater object latent in the ocean,
A plurality of avoidance action patterns that the underwater object takes to avoid detection of the searcher, and a procedure for setting each occurrence probability of the plurality of avoidance action patterns in a storage unit;
A procedure for performing a simulation for avoiding the underwater object according to an avoidance action pattern according to the occurrence probability, with an initial state of the state in which the underwater object is uniformly distributed in a search area;
A procedure for displaying the presence distribution of the underwater object in the search area in the simulation;
The number of underwater objects detected by the searcher and the number of underwater objects detected by the searcher by detecting sound waves radiated to detect the underwater object, and the relationship between the passage of time, A program for executing a procedure for displaying quantitatively the advantageous / disadvantageous situation and the passage of time of the underwater object and the searcher at the current time by displaying the graph every moment.