JP7601661B2 - Underwater vehicle jamming device and underwater vehicle jamming method - Google Patents

Description

This disclosure relates to an underwater vehicle jamming device, etc.

Underwater vehicles that collide with or approach ships and detonate explosives and other explosives are a major threat to ships.

Underwater vehicles cannot be detected by radar or optical sensors, so they are detected by sonar, which uses underwater sound waves. However, if the underwater vehicle is small, it is very difficult to detect the sound reflected from the underwater vehicle using active sonar. Passive sonar can detect the sound of the underwater vehicle moving. However, passive sonar cannot detect the distance to the underwater vehicle, so it cannot accurately determine the position of the underwater vehicle.

Patent Document 1 discloses an underwater vehicle neutralization device that uses a wake-homing system to entangle underwater vehicles approaching a ship in a capture net, thereby disrupting their navigation.

On the other hand, there is an interceptor underwater vehicle that is launched from a ship toward the underwater vehicle and travels toward it, neutralizing the underwater vehicle. For example, the interceptor underwater vehicle approaches close to the underwater vehicle and detonates an explosive mounted as the warhead of the interceptor underwater vehicle.

Equipping an interceptor underwater vehicle with a passive sonar is a promising method for detecting propulsion sounds and other navigation sounds emitted by underwater objects at a distance of several hundred meters.

JP 2018-079791 A

However, while passive sonar can detect the direction of arrival of the navigation sound emitted from the underwater vehicle, it cannot detect the distance to the underwater vehicle. Therefore, it is difficult to detect the timing when the interceptor underwater vehicle and the underwater vehicle are closest to each other using information on the direction of arrival of the navigation sound detected by passive sonar.

This disclosure provides an underwater vehicle jamming device and the like that can disrupt the navigation of an underwater vehicle using an interceptor underwater vehicle without exploding at the closest point of approach.

The underwater vehicle jamming device according to the present disclosure comprises a capture net for capturing the underwater vehicle, and an intercepting underwater vehicle that travels toward the underwater vehicle from in front of the underwater vehicle while towing the capture net.

The underwater vehicle capture net according to the present disclosure comprises a connecting portion that connects to an intercepting underwater vehicle, a capture net main body having a through hole, and a through hole auxiliary net that is fixed to the capture net main body at at least two points that sandwich the through hole, and is stored within the intercepting underwater vehicle. When deployed underwater, the through hole is passed through the intercepting underwater vehicle as it travels, and when towed by the intercepting underwater vehicle, the through hole auxiliary net blocks the through hole.

The method of intercepting an underwater vehicle disclosed herein involves towing a capture net underwater while an intercepting underwater vehicle travels toward the underwater vehicle from in front of the underwater vehicle, and captures the underwater vehicle with the capture net.

According to the present disclosure, an interceptor underwater vehicle can be used to disrupt the underwater vehicle's movement without exploding at the closest point.

FIG. 13 is a diagram showing a state in which the underwater vehicle 3 is detected. 1 is a diagram showing the state of the interceptor underwater vehicle 10 immediately after launch. FIG. FIG. 2 is a diagram showing the state of the interceptor underwater vehicle 10 during guidance. FIG. 13 is a diagram showing the state after the capture net 11 has been deployed. 13 is a diagram showing how the underwater vehicle 3 is captured. FIG. FIG. 13 is a diagram showing the state in which the underwater vehicle 3 has been completely captured. FIG. 2 is a diagram showing the underwater braking parachute 12 deployed. 1 is a diagram showing the configuration and internal structure of an interceptor underwater vehicle 10. FIG. FIG. 2 is a diagram showing the structure of the interceptor underwater vehicle 10. FIG. 2 is a diagram showing the structure of a capture net 11. 1 is a block diagram showing an overview of an entire underwater vehicle jamming system. FIG. 2 is an explanatory diagram of a passive sonar 13. The vertical receiving directivity 26 and the horizontal receiving directivity 27 are shown. 4 is a flowchart showing an example of the operation of the underwater vehicle jamming system. FIG. 2 is an explanatory diagram of an example of a method for deploying a trapping net 11. 13 is a further explanatory diagram of an example of a method for deploying the capture net 11. FIG.

Below, an embodiment of the present disclosure will be described with reference to the drawings, but the present disclosure is not limited to this embodiment. Note that in the drawings described below, parts having the same functions are given the same reference numerals, and repeated explanations may be omitted.

(overview)
An outline of an underwater vehicle jamming device according to an embodiment of the present invention will be described with reference to Figures 1 to 7. The underwater vehicle jamming device includes a capture net and an interceptor underwater vehicle that is launched from a ship toward the underwater vehicle. The interceptor underwater vehicle does not need to be loaded with explosives.

Figure 1 shows the state in which an underwater vehicle 3 has been detected. A sonar 2 equipped on a ship 1 detects underwater sound waves such as propeller sounds generated when the underwater vehicle 3 travels underwater.

The ship 1 is a target for the underwater vehicle 3 when it is homing. The sonar 2 is a sonar mounted on the ship 1. The sonar 2 generally has both active and passive sonar functions. Active sonar is a type of sonar that transmits a searching sound wave underwater and detects the echo from an object underwater. Passive sonar is a type of sonar that detects the propulsion sounds of an underwater vehicle or the like. The sonar 2 according to the present disclosure is required to have at least the function of passive sonar.

The underwater vehicle 3 navigates by homing on the ship 1 as a target. The diameter of the underwater vehicle 3 is generally 0.3 to 0.6 m.

The bow heading 4 serves as the basis for the detection direction 5 of the underwater vehicle.

The detection direction 5 of the underwater vehicle is a direction based on the bow heading 4. The detection direction 5 of the underwater vehicle indicates the direction of arrival of navigation sounds, such as propeller sounds, emitted from the underwater vehicle 3 detected by the sonar 2.

Figure 2 shows the state of the interceptor underwater vehicle 10 immediately after it is launched. The ship 1 launches the interceptor underwater vehicle 10 and drops it into the sea. Figure 2 shows the state of the interceptor underwater vehicle 10 before it is guided by the ship 1 via the guide wire 8.

The guidance wire 8 is an electric wire or optical fiber cable that transmits signals that allow the vessel 1 to control the course and depth of the interceptor underwater vehicle 10. The vessel 1 guides the interceptor underwater vehicle 10 via the guidance wire 8 so that it moves in the direction of the underwater vehicle 3's arrival.

Figure 3 shows the state of the interceptor underwater vehicle 10 during guidance. The detection direction 9 of the interceptor underwater vehicle is a direction based on the bow heading 4. The detection direction 9 of the interceptor underwater vehicle indicates the detection direction of navigation sounds such as propeller sounds emitted by the interceptor underwater vehicle 10 detected by sonar 2. The interceptor underwater vehicle 10 is guided from the ship 1 via the guidance wire 8, and is guided between the underwater vehicle 3 and the ship 1.

Sonar 2 of vessel 1 detects the direction of the propulsion sound of interceptor underwater vehicle 10 and the propulsion sound of underwater vehicle 3. Sonar 2 also detects that the propulsion sound of interceptor underwater vehicle 10 and the propulsion sound of underwater vehicle 3 are coming from the same direction. Furthermore, sonar 2 may detect that an extension of the direction of travel of interceptor underwater vehicle 10 and an extension of the direction of arrival of underwater vehicle 3 are aligned.

The guide wire 8 may further transmit a signal that controls the deployment timing of the capture net 11. Once the navigation direction of the interceptor underwater vehicle 10 has been guided, the capture net 11 is deployed from the interceptor underwater vehicle 10 by remote control using the guide wire 8. The capture net 11 has a connecting portion that connects to the interceptor underwater vehicle 10. The size of the capture net 11 is not particularly limited, but is preferably 30 to 50 m in diameter. The diameter of the capture net 11 may be 30 m or less, or 50 m or more. The shape of the capture net 11 is also not particularly limited. The mesh size of the capture net 11 is appropriately designed so that it can capture the underwater vehicle 3. The interceptor underwater vehicle 10 tows the capture net 11.

Figure 4 shows the state after the capture net 11 has been deployed. Figure 4 shows the capture net 11 being deployed from the rear of the interceptor underwater vehicle 10 and towed. Figure 5 shows the underwater vehicle 3 being captured by the capture net 11 towed by the interceptor underwater vehicle 10. Figure 6 shows the underwater vehicle 3 being completely captured by the capture net 11 towed by the interceptor underwater vehicle 10. Once completely captured, the underwater vehicle 3 drags the interceptor underwater vehicle 10. At this stage, the homing navigation of the underwater vehicle 3 can be disrupted.

Figure 7 shows the underwater braking parachute 12 deployed. In order to thoroughly disrupt the homing navigation of the underwater vehicle 3, the interceptor underwater vehicle 10 deploys the underwater braking parachute 12 from the front. Deploying the underwater braking parachute 12 increases the underwater resistance of the underwater vehicle 3 and reduces its speed. Therefore, the ship 1 can avoid being pursued by the underwater vehicle 3.

(composition)
Next, a configuration example of the underwater vehicle jamming system according to this embodiment will be described with reference to Figures 8 to 13, 15, and 16. The underwater vehicle jamming system includes an intercepting underwater vehicle 10, a capture net 11, a guide wire 8, and a ship 1.

Figure 8 is a diagram showing an example of the configuration and internal structure of the interceptor underwater vehicle 10. The diameter of the interceptor underwater vehicle 10 can be designed as appropriate, but is preferably designed to be in the range of 0.3 to 0.5 m. The diameter of the interceptor underwater vehicle 10 may be 0.3 m or less, or 0.5 m or more.

In the following drawings, the positive side of the x-axis is the direction of travel of the interceptor underwater vehicle 10. The positive side of the y-axis is the upper side relative to the direction of travel. The positive side of the z-axis is the right side relative to the direction of travel.

The interceptor underwater vehicle 10 may be capable of autonomous navigation. In this case, a passive sonar 13 is equipped at the front of the interceptor underwater vehicle 10. The passive sonar 13 receives navigation sounds, such as propeller sounds, emitted by the underwater vehicle 3, and detects the elevation and depression angles and horizontal direction of arrival of the navigation sounds. The passive sonar 13 is generally mounted at the very front of the interceptor underwater vehicle 10.

The interceptor underwater vehicle 10 may be equipped with an underwater braking parachute 12. In this case, the underwater braking parachute storage section 14 stores the underwater braking parachute 12 inside the interceptor underwater vehicle 10. The underwater braking parachute storage section 14 has a mechanism for deploying the underwater braking parachute 12. The underwater braking parachute storage section 14, for example, separates the outer shell of the underwater braking parachute storage section 14 and deploys the underwater braking parachute 12.

The interceptor underwater vehicle 10 includes a net storage section 15, a fuel tank section 16, an engine section 17, a propeller shaft 18, a screw propeller 19, a rudder 20, a control section 21, a guide wire storage section 22, and a guide wire guide rail 23.

The capture net storage unit 15 stores the capture net 11 inside the interceptor underwater vehicle 10. The capture net storage unit 15 has a mechanism for deploying the capture net 11. For example, the capture net storage unit 15 separates the outer shell of the capture net storage unit 15 and deploys the capture net 11.

The technology for separating the outer shells of the underwater braking parachute storage section 14 and the capture net storage section 15 is known in the field of underwater vehicles, so a description of it will be omitted. The present embodiment is characterized by mechanisms other than the separation of the outer shells of the underwater braking parachute storage section 14 and the capture net storage section 15.

The fuel tank section 16 stores fuel used by the engine section 17 of the interceptor underwater vehicle 10. If the engine section 17 is an electric motor, the fuel tank section 16 is a battery.

The engine section 17 is a power source that rotates the screw propeller 19 of the interceptor underwater vehicle 10, and is an internal combustion engine or an electric motor that burns fuel supplied from the fuel tank section 16. If the engine section 17 is an internal combustion engine, the engine section 17 has a built-in generator that supplies electricity used by the passive sonar 13, etc.

The propeller shaft 18 is a shaft mechanism that connects the engine section 17 and the screw propeller 19.

The screw propeller 19 is a propulsion device that generates thrust by rotating underwater. The screw propeller 19 equipped on the interceptor underwater vehicle 10 is a contra-rotating propeller, with the front and rear propellers rotating in opposite directions. This is to prevent the main body from rotating due to a reaction generated by the propeller rotating underwater. Generally, the underwater vehicle 3 is also equipped with a propeller similar to the screw propeller 19.

The rudder 20 controls the direction of travel. The rudder 20 has, for example, a horizontal rudder and a vertical rudder. The rudder 20 controls the horizontal direction and elevation angle of the interceptor underwater vehicle 10 by means of the horizontal rudder and the vertical rudder. Generally, the underwater vehicle 3 also has a rudder similar to the rudder 20.

The control unit 21 receives input of the horizontal direction of arrival and the elevation angle of the sailing sound of the underwater vehicle 3 from the passive sonar 13. The control unit 21 also receives input of guidance information for the ship 1 from the guidance wire storage unit 22. The control unit 21 outputs control signals to the horizontal and vertical rudders of the rudder 20, as well as the underwater braking parachute storage unit 14 and the capture net storage unit 15. The control unit 21 is also called the rudder control unit because it controls the rudder 20.

The guide wire storage section 22 is a drum that stores the guide wire 8.

The guide wire guide rail 23 is a mechanism that adjusts the payout port of the guide wire 8 to be positioned behind the screw propeller 19 to prevent the guide wire 8 from becoming entangled in the screw propeller 19.

The interceptor underwater vehicle 10 may further include a capture net guide rail 28 and a capture net guide rail 29. The capture net guide rails 28, 29 may be provided on the left and right sides of the direction of travel. When viewed from the negative side of the x-axis, the capture net guide rail 28 is also called the left capture net guide rail, and the capture net guide rail 29 is also called the right capture net guide rail.

Figure 9 shows the structure of the interceptor underwater vehicle 10 before and after it deploys the capture net 11. Figure 9 shows the interceptor underwater vehicle 10 rotated 90 degrees in the longitudinal direction from the state shown in Figure 8. Therefore, the guide wire guide rail 23 is shown in the middle of the interceptor underwater vehicle 10, not at the bottom.

The capture net guide rails 28, 29 are stored inside the interceptor underwater vehicle 10 when the capture net 11 is stored. When the capture net 11 is deployed, the capture net guide rails 28, 29 rotate 180 degrees outward around a rotation axis 30 that rotates around the y axis, and tow the capture net 11 to the rear of the interceptor underwater vehicle 10 as shown in the lower diagram of Figure 9. However, in the lower diagram of Figure 9, the capture net 11 that is fixed to the other end of the capture net guide rails 28, 29 opposite the rotation axis 30 and deployed is omitted.

The rotation axis 30 is the axis about which the capture net guide rail 28 and the capture net guide rail 29 rotate. One end of the capture net guide rails 28, 29 is connected to the rotation axis 30. The capture net guide rails 28, 29 may be deployed outward by rotating the interceptor underwater vehicle 10 around its long axis (the x-axis in the drawing) using the rudder 20.

The central structure 31 is a mechanical structure that supports the underwater braking parachute storage section 14 and the fuel tank section 16 after the outer shell of the capture net storage section 15 is separated in order to maintain the structure of the interceptor underwater vehicle 10 after the capture net 11 is deployed.

Figure 10 shows an example of the structure of the capture net 11 as viewed from the negative x-axis when the interceptor underwater vehicle 10 deploys and tows the capture net 11. The capture net 11 has, for example, a capture net through hole 32 (the capture net through hole is also called a through hole). The capture net through hole 32 is a hole that allows the capture net 11 to slip through the rear of the interceptor underwater vehicle 10 (the rear side in the direction of travel of the part where the fuel tank 16 is stored) when deploying the capture net 11.

For example, a capture net through-hole auxiliary net 33 is fixed to the capture net 11 (the capture net through-hole auxiliary net is also called a through-hole auxiliary net). The capture net through-hole auxiliary net 33 is a double net for blocking the capture net through-hole 32 after the capture net 11 is deployed. The capture net through-hole auxiliary net 33 is fixed to the capture net 11 so as to block the capture net through-hole 32 after the capture net 11 is deployed due to the resistance of the water flow. The capture net through-hole auxiliary net 33 is fixed at at least two points on either side of the capture net through-hole 32. For example, in FIG. 10, the capture net through-hole auxiliary net 33 is fixed to the capture net 11 only at both the left and right ends.

The capture net penetration hole auxiliary net 33 may be fixed at three or more points surrounding the capture net penetration hole 32, as long as it does not prevent the capture net 11 from passing through the rear of the interceptor underwater vehicle 10.

15 and 16 are explanatory diagrams of an example of a method for deploying the capture net 11. As shown in FIG. 15, the outer shell of the capture net storage unit 15 of the interceptor underwater vehicle 10 is removed, and the capture net guide rails 28 and 29 rotate around the rotation axis 30 to the outside of the pursuit underwater vehicle 10. The capture net 11 is connected to the other end of the capture net guide rails 28 and 29 opposite the rotation axis 30 by a towing rope. The capture net 11 is pulled out of the capture net storage unit 15 in which it was housed as the capture net guide rails 28 and 29 rotate. FIG. 16 shows the state in which the interceptor underwater vehicle 10 passes through the capture net through hole 32 of the capture net 11. When the capture net 11 passes through the capture net through hole 32 of the capture net 11 completely through the rear of the interceptor underwater vehicle 10, the capture net 11 is opened and towed as shown in the lower drawing of FIG. 9 and FIG. 4. At this time, as shown in FIG. 10, the capture net through hole auxiliary net 33 blocks the capture net through hole 32, so the underwater vehicle 3 captured by the capture net 11 cannot pass through the capture net through hole 32.

Figure 11 is a block diagram showing an example of an overall outline of an underwater vehicle jamming system according to the present disclosure. Figure 11 shows a vessel 1 and an interceptor underwater vehicle 10. The vessel 1 and the interceptor underwater vehicle 10 are connected by a guide wire 8.

The underwater acoustic waves 34 are underwater acoustic waves that include navigation sounds such as propulsion sounds emitted by the underwater vehicle 3. The sonar 2 of the ship 1 and the passive sonar 13 of the interceptor underwater vehicle 10 each detect the underwater acoustic waves 34.

Figure 12 is a plan view of the passive sonar 13 as viewed from the positive side of the x-axis. The passive sonar 13 is equipped with a vertical receiving array 24 and a horizontal receiving array 25. The vertical receiving array 24 receives the navigation sound emitted by the underwater vehicle 3 and detects the elevation and depression angles of the navigation sound. The horizontal receiving array 25 receives the navigation sound emitted by the underwater vehicle 3 and enables detection of the horizontal direction of arrival of the navigation sound.

Figure 13 shows the vertical receiving directivity 26 obtained by the vertical receiving array 24 and the horizontal receiving directivity 27 obtained by the horizontal receiving array 25. In Figure 13, the upper side is the positive side of the y-axis, and the lower side is the negative side of the y-axis. The right side is the positive side of the z-axis, and the left side is the negative side of the z-axis. The vertical receiving array 24 has vertical directivity. The arrival elevation and depression angles of the navigation sound emitted by the underwater vehicle 3 are calculated using the phase shift of the underwater sound waves 34 received by the multiple electrostrictive transducers 35 provided in the vertical receiving array 24. The horizontal receiving array 25 has horizontal directivity. The arrival direction angle of the navigation sound emitted by the underwater vehicle 3 is calculated using the phase shift of the underwater sound waves 34 received by the multiple electrostrictive transducers 35 provided in the horizontal receiving array 25.

The electrostrictive transducer 35 is installed in the vertical receiving array 24 and the horizontal receiving array 25 of the sonar 2 and the passive sonar 13, and converts the underwater sound waves 34 into an electrical signal.

The preamplifier 36 is equipped on the sonar 2 and the passive sonar 13 and amplifies the electrical signal.

The analog-to-digital (A/D (Analog/Digital)) converter 37 is equipped in the sonar 2 and the passive sonar 13, and converts analog electrical signals into digital signals.

The horizontal directivity synthesis processing unit 38 is equipped in the sonar 2 and the passive sonar 13, and converts the signal into a horizontal receiving signal level based on the phase difference of the sound waves received by the electrostrictive transducer 35 of the sonar 2 and the horizontal receiving array 25.

The Fast Fourier Transform (FFT) processing unit 39 is equipped in the sonar 2 and converts the received signal level for each horizontal direction into a received signal level for each frequency component. The FFT processing unit 39 transmits the received signal level for each horizontal direction and each frequency component to the guidance control unit 40.

The guidance control unit 40 is equipped in the sonar 2, and calculates the detection direction 5 of the underwater vehicle and the detection direction 9 of the interceptor underwater vehicle from the received signal level for each horizontal direction and each frequency component. The guidance control unit 40 controls the course of the interceptor underwater vehicle 10 via the guidance wire 8 so that the detection direction 5 of the underwater vehicle and the detection direction 9 of the interceptor underwater vehicle coincide. In addition, when the detection direction 5 of the underwater vehicle and the detection direction 9 of the interceptor underwater vehicle coincide, the guidance control unit 40 instructs the interceptor underwater vehicle 10 on the timing of deploying the capture net 11.

The vertical directivity synthesis processing unit 41 is equipped in the sonar 2 and the passive sonar 13, and converts the signal into a vertical receiving signal level based on the phase difference of the sound waves received by the electrostrictive transducer 35 of the vertical receiving array 24.

Underwater, the speed of sound changes because water temperature, salinity, and density vary with depth. Sound waves have the characteristic of not traveling straight in a vertical direction (towards the water surface and the seabed), and so the sonar 2 equipped on the ship 1 cannot accurately detect the depth of the underwater vehicle 3. In order for the interceptor underwater vehicle 10 to capture the underwater vehicle 3 using a capture net 11, it is preferable to use the passive sonar 13 equipped on the interceptor underwater vehicle 10 to adjust the depth of the interceptor underwater vehicle 10 toward the sound of the underwater vehicle 3 traveling.

Specifically, the vertical receiving array 24 of the passive sonar 13 mounted on the tip of the interceptor underwater vehicle 10 is used. The vertical directivity synthesis processing unit 41 uses the vertical receiving directivity 26 of the vertical receiving array 24 to calculate the elevation and depression angle at which the navigation sound of the underwater vehicle 3 arrives, and the depth is changed in the direction of that elevation and depression angle.

In addition, the sonar 2 equipped on the ship 1 can detect the sailing sound of the underwater vehicle 3, but in order to capture the underwater vehicle 3 with a capture net 11, it is preferable to control the course of the intercepting underwater vehicle 10 more accurately toward the underwater vehicle 3. Therefore, the course is controlled toward the sailing sound of the underwater vehicle 3 using the passive sonar 13 equipped on the intercepting underwater vehicle 10.

Specifically, the horizontal wave receiving array 25 of the passive sonar 13 equipped at the tip of the interceptor underwater vehicle 10 is used. The horizontal directivity synthesis processing unit 38 uses the horizontal wave receiving directivity 27 of the horizontal wave receiving array 25 to calculate the direction from which the navigation sound of the underwater vehicle 3 arrives, and the course is changed to that direction. The shorter the separation distance between the underwater vehicle 3 and the interceptor underwater vehicle 10, the more accurately the interceptor underwater vehicle 10 can navigate in the direction of the underwater vehicle 3.

(Operation)
An operation of the underwater vehicle jamming system according to this embodiment will be described below. Fig. 14 is a flowchart showing an example of the operation of the underwater vehicle jamming system.

The sonar 2 installed on the ship 1 detects the underwater sound waves 34 emitted by the underwater vehicle 3 and detects the detection direction 5 of the underwater vehicle (step S1).

Specifically, the underwater sound waves 34 are converted into an electrical signal by an electrostrictive transducer 35 of the sonar 2 installed on the ship 1. The electrical signal is amplified by a preamplifier 36, digitized by an analog-to-digital converter 37, and converted into acoustic reception data for each direction by a horizontal directivity synthesis processor 38. An FFT processor 39 analyzes frequency characteristics based on the acoustic reception data. A guidance controller 40 determines the direction of arrival of the underwater sound waves 34 that have the frequency characteristics of the navigation sound of the underwater vehicle 3.

Next, the interceptor underwater vehicle 10 is launched from the ship 1 and guided by the guide wire 8 (step S2). The interceptor underwater vehicle 10 navigates while being guided from the ship 1 by the guide wire 8, and is guided so that the detection direction 5 of the underwater vehicle and the detection direction 9 of the interceptor underwater vehicle are the same.

Specifically, the underwater sound waves 34 are converted into an electric signal by an electrostrictive transducer 35 of the sonar 2 installed on the ship 1. The electric signal is amplified by a preamplifier 36, digitized by an analog-to-digital converter 37, and converted into sonic reception data for each direction by a horizontal directivity synthesis processor 38. An FFT processor 39 analyzes frequency characteristics based on the sonic reception data. A guidance controller 40 controls and guides the course of the interceptor underwater vehicle 10 so that the underwater sound waves 34 having the frequency characteristics of the navigation sound of the underwater vehicle 3 and the underwater sound waves 34 having the frequency characteristics of the interceptor underwater vehicle 10 being guided arrive from the same direction.

When it is confirmed that the detection direction 9 of the underwater sound waves 34 emitted from the interceptor underwater vehicle 10 coincides with the detection direction 5 of the underwater vehicle, the interceptor underwater vehicle 10 deploys the capture net 11 (step S3).

Specifically, the guidance control unit 40 determines that the underwater sound waves 34 having the frequency characteristics of the navigation sound of the underwater vehicle 3 and the underwater sound waves 34 having the frequency characteristics of the interceptor underwater vehicle 10 being guided arrive from the same direction. For example, when the difference between the detection direction 5 of the underwater vehicle and the detection direction 9 of the interceptor underwater vehicle is within a predetermined range, the guidance control unit 40 determines that the propeller sound of the interceptor underwater vehicle 10 and the propeller sound of the underwater vehicle 3 arrive from the same direction. The guidance control unit 40 instructs the control unit 21 of the interceptor underwater vehicle 10 to deploy the capture net 11 via the guidance wire 8. The control unit 21 separates the outer hull of the capture net storage unit 15 to deploy the capture net 11.

At this time, the capture net 11 is deployed while the capture net guide rail 28 and the capture net guide rail 29 shown in FIG. 9 rotate 180 degrees around the rotation axis 30 to the outside of the interceptor underwater vehicle 10 so that the capture net 11 does not get entangled in the screw propeller 19 of the interceptor underwater vehicle 10. When the capture net 11 is deployed, the capture net through hole 32 of the capture net 11 passes through the rear of the interceptor underwater vehicle 10 as shown in FIG. 16 from the state shown in FIG. 15.

The interceptor underwater vehicle 10 autonomously homing toward the underwater vehicle 3 as shown in FIG. 4 (step S4).

Specifically, the underwater acoustic waves 34 are converted into electrical signals by electrostrictive transducers 35 of the vertical receiving array 24 and horizontal receiving array 25 mounted on the interceptor underwater vehicle 10. The electrical signals are amplified by a preamplifier 36 and converted into digital data by an analog-to-digital converter 37. A vertical directivity synthesis processor 41 converts the converted digital data into acoustic reception data for each elevation and depression angle and outputs the data to the controller 21. A horizontal directivity synthesis processor 38 converts the converted digital data into acoustic reception data for each horizontal direction and outputs the data to the controller 21.

The control unit 21 assumes that the underwater vehicle 3 exists in the direction where the level is high for the sonic reception data for each elevation and depression angle, and controls the horizontal rudder of the rudder 20 so that the intercepting underwater vehicle 10 sails in the direction of the underwater vehicle 3. The control unit 21 also assumes that the underwater vehicle 3 exists in the direction where the level is high for the sonic reception data for each direction, and controls the vertical rudder of the rudder 20 so that the intercepting underwater vehicle 10 sails in the direction of the underwater vehicle 3.

As shown in Figures 5 and 6, the capture net 11 completely captures the underwater vehicle 3 (step S5). At this time, the inertial navigation system (not shown) built into the control unit 21 detects that the interceptor underwater vehicle 10 has suddenly decelerated due to the kinetic energy of the underwater vehicle 3.

After the underwater vehicle 3 is completely captured by the capture net 11, the interceptor underwater vehicle 10 deploys the underwater braking parachute 12 as shown in FIG. 7 (step S6). The underwater braking parachute 12 slows down the traveling speed of the underwater vehicle 3.

Specifically, the control unit 21 separates the outer shell of the underwater braking parachute storage unit 14 and deploys the underwater braking parachute 12. Deploying the underwater braking parachute 12 slows down the traveling speed of the underwater vehicle 3, thereby preventing the underwater vehicle 3 and the ship 1 from approaching each other. Preferably, the underwater braking parachute 12 slows down the traveling speed of the underwater vehicle 3 below the traveling speed of the ship 1.

The scope of the present disclosure also includes a program that causes a computer to execute the processing of the above-described embodiment and a recording medium on which the program is stored. Examples of recording media that can be used include magnetic disks, magnetic tapes, optical disks, magneto-optical disks, and semiconductor memories.

(effect)
<First Effect>
According to this embodiment, even if the timing at which the underwater vehicle and the intercepting underwater vehicle are closest to each other cannot be detected, the underwater vehicle can be jammed. This is because the intercepting underwater vehicle 10 travels toward the underwater vehicle 3 from in front of the underwater vehicle 3 while towing the capture net 11, and captures the underwater vehicle 3 with the capture net 11. This is also because the intercepting underwater vehicle 10 tows the capture net 11 having a predetermined width, and captures the underwater vehicle 3 that has approached to a predetermined range with the capture net 11. Furthermore, after the intercepting underwater vehicle 10 captures the underwater vehicle with the capture net 11, it deploys the underwater braking parachute 12. According to this embodiment, the traveling speed of the underwater vehicle 3 is slowed down, so that the underwater vehicle 3 can be jammed from approaching the ship 1.

<Second Effect>
According to this embodiment, the interceptor underwater vehicle 10 and the underwater vehicle 3 can be brought closer to each other more reliably. The reason for this is that, in the technology for guiding the interceptor underwater vehicle 10 toward the underwater vehicle 3 and bringing it closer, first, the general direction is detected by the sonar 2 equipped on the ship 1. The interceptor underwater vehicle 10 is guided in the general direction by the guide wire 8. When the separation distance between the interceptor underwater vehicle 10 and the underwater vehicle 3 becomes short, the passive sonar 13 of the interceptor underwater vehicle 10 detects the navigation sound of the underwater vehicle 3. Then, after detecting the navigation sound of the underwater vehicle 3, the passive sonar 13 equipped on the interceptor underwater vehicle 10 is used to guide the interceptor underwater vehicle 10 to the elevation angle and horizontal direction at which the navigation sound of the underwater vehicle 3 arrives.

The present disclosure has been described above using the above-mentioned embodiment as an exemplary example. However, the present disclosure is not limited to the above-mentioned embodiment. In other words, the present disclosure can be applied in various aspects that can be understood by a person skilled in the art within the scope of the present disclosure.

1 Ship 2 Sonar 3 Underwater vehicle 4 Bow direction 5 Detection direction of underwater vehicle 8 Guidance wire 9 Detection direction of intercepting underwater vehicle 10 Intercepting underwater vehicle 11 Capture net 12 Underwater braking parachute 13 Passive sonar 14 Underwater braking parachute storage section 15 Capture net storage section 16 Fuel tank section 17 Engine section 18 Propeller shaft 19 Screw propeller 20 Rudder 21 Control section 22 Guidance wire storage section 23 Guidance wire guide rail 24 Vertical wave receiving array 25 Horizontal wave receiving array 26 Vertical wave receiving directivity 27 Horizontal wave receiving directivity 28 Capture net guide rail 29 Capture net guide rail 30 Rotation shaft 31 Central structure 32 Capture net through hole 33 Capture net through hole auxiliary net 34 Underwater sound wave 35 Electrostrictive transducer 36 Preamplifier 37 Analog-to-digital conversion section 38 Horizontal directivity synthesis processing section 39 FFT processing section 40 Guidance control section 41 Vertical directivity synthesis processing section

Claims (9)

A capture net for capturing the underwater vehicle;
an intercepting underwater vehicle traveling toward the underwater vehicle from in front of the underwater vehicle while towing the capture net;
The interceptor underwater vehicle comprises:
A net storage means for storing the net;
a parachute storage means for storing an underwater braking parachute;
a control means for controlling the capture net to be deployed underwater and for autonomous homing travel toward the detected horizontal and vertical directions of the underwater vehicle, and for deploying the underwater braking parachute in the travel direction of the interceptor underwater vehicle.
Underwater vehicle jamming device. The control means deploys the capture net in water by guidance from a ship.
The underwater vehicle jamming device according to claim 1. The underwater vehicle jamming device according to claim 2 , wherein the interceptor underwater vehicle further comprises a capture net guide rail that is deployed at a rear portion of the interceptor underwater vehicle and that tows the capture net. The control means deploys the underwater braking parachute in response to detecting the capture of the underwater vehicle by detecting the deceleration of the interceptor underwater vehicle.
An underwater vehicle jamming device according to any one of claims 1 to 3 . The underwater vehicle jamming device according to any one of claims 1 to 4, further comprising a passive sonar that receives the navigation sound of the underwater vehicle, and autonomously homing toward a detection horizontal direction and a detection vertical direction of the received navigation sound. a guide wire for transmitting a guidance command from a ship to guide the interceptor underwater vehicle to the underwater vehicle;
An underwater vehicle jamming device according to any one of claims 1 to 5 . The capture net is
A capture net body having a through hole;
and a through-hole auxiliary net fixed to the capture net body at at least two points sandwiching the through-hole,
When the missile is stored in the interceptor underwater vehicle and deployed in water, the missile passes through the through hole of the interceptor underwater vehicle traveling,
When towed by the interceptor underwater vehicle, the through hole auxiliary net blocks the through hole.
An underwater vehicle jamming device according to any one of claims 1 to 6. Underwater vehicle jamming devices,
The capture net stored in the interceptor underwater vehicle is deployed underwater,
while towing the capture net underwater , the intercepting underwater vehicle is autonomously navigated from in front of the underwater vehicle toward the detected horizontal direction and the detected vertical direction of the underwater vehicle;
Capturing the underwater vehicle with the capture net ;
An underwater braking parachute stored in the interceptor underwater vehicle is deployed in the traveling direction of the interceptor underwater vehicle.
Method for interfering with underwater vehicles. After capturing the underwater vehicle by the capture net, the interceptor underwater vehicle deploys the underwater braking parachute.
A method for intercepting an underwater vehicle according to claim 8 .

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