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公开(公告)号：EP1410060A1
公开(公告)日：2004-04-21
申请号：EP02735382.0
申请日：2002-05-27
IPC分类号： G01S3/802
CPC分类号： G01S3/8022 , G01S5/18
摘要： The invention relates to passive target data determination, wherein target noises are received with a sonar receiver device onboard a carrier vehicle and the bearing angle to a target is measured. An estimated bearing angle is detected on the basis of a target position that has been estimated with a speed-dependent path term and path component and speed component errors. A bearing angle difference relative to the measured bearing angle is then formed and iteratively minimized. A frequency analysis of target noise is carried out and reception frequency is measured in order to determine target data, said determination being adapted in time to tactical requirements, without inputting measured values of other sensors onboard and without performing any individual maneuver. A Doppler shift of an estimated transmitter frequency having a frequency error is determined on the basis of the estimated target positions and their changes in time in the direction of bearing and a Doppler frequency is estimated. The frequency difference between the measured reception frequency and the Doppler frequency is iteratively minimized along with the bearing angle difference. The position estimated when the minimum has been reached provides the target data.
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公开(公告)号：EP2294442A1
公开(公告)日：2011-03-16
申请号：EP09769186.9
申请日：2009-06-19
CPC分类号： G01S5/20 , G01S3/8083 , G01S3/8086 , G01S11/14
摘要： The invention relates to a method and an apparatus for passive determination of target parameters by directionally selective reception of sound waves which are emitted or transmitted from a target, to be precise by means of an arrangement (24) of underwater sound sensors of a sonar receiving installation from estimated bearing angles, which are determined from estimated positions of the target, and bearing angles which are measured at the measurement point by the arrangement (24), wherein a bearing angle difference between measured and estimated bearing angles is iteratively minimized and, when the minimum is reached, the target parameters are used for an optimized solution for outputting target range, target position, target course, target range and/or target velocity and they are updated during each processing cycle in a series of successive processing cycles. In order to estimate the reliability of this optimized solution, during each processing cycle a multiplicity of different target tracks Z(i, j) are calculated from possible solutions for the target parameters to be determined, specifically an assumed target course C
est , an assumed target range R
est and/or an assumed target velocity V
est . Associated bearing angles B
est are assumed for each of these possible solutions, and the assumed bearing angles B
est are used to calculate a quality measure Q, Qinv along each of the assumed target tracks Z(i, j). In order to determine the reliability of the optimized solution, a reliability level is determined from the distribution of the quality measure Q, Qinv, as a function of at least one of the target parameters. The entire calculated solution scope for the various target parameters corresponding to the associated quality measure Q, Qinv is advantageously visualized in various diagrams.-
公开(公告)号：EP2140283A1
公开(公告)日：2010-01-06
申请号：EP08716173.3
申请日：2008-03-03
CPC分类号： G01S3/8022 , G01S3/8027 , G01S5/20 , G01S11/14
摘要： The invention relates to a method for the passive determination of target data by means of a directionally-selective reception of sound waves, wherein a first converter arrangement uses estimated bearing angles, which are determined from estimated positions of a target, and measured bearing angles, to minimize bearing angle differences between measured and estimated bearing angles. In order to enable a suitable determination of the target data, with respect to time considerations for tactical requirements, without requiring an individual maneuver and frequency evaluation of the received sound waves, claimed bearing angle measurements of a second converter arrangement, located at a distance from the first converter arrangement, are utilized for the estimation of the target data when a parallax value determined between the bearing angle measurement of both converter arrangements is greater than a prespecifiable parallax threshold value, and the distance estimated during the target data estimation is smaller than a comparison distance determined from the parallax threshold value.
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4.发明公开VERFAHREN ZUM BESTIMMEN DER MOMENTANEN POSITION AINER AKUSTIKSEKTION EINER SCHLEPPANTENNE 有权用于确定TOWED天线的声学会议的当前位置
公开(公告)号：EP1999491A1
公开(公告)日：2008-12-10
申请号：EP07703490.8
申请日：2007-02-16
IPC分类号： G01V1/38
CPC分类号： G01V1/3835
摘要： A method is specified for determining the instantaneous position of an acoustics section of a towed antenna (11) which is towed by a towing vehicle (10) in the water. In order to determine a sufficiently accurate position without additional hardware complexity and with no need for demanding computation power, the position of the acoustics section is fixed at at least one selected point (14) in the acoustics section, and the position (Pt2) of the selected point (14) is estimated after the towing vehicle (10) has travelled over a defined distance (19), by means of a model from the positions (Ot1, Pt1) assumed by the towing vehicle (10) and the selected point (14) at the start of the distance travelled (19) and the position (Ot2) assumed by the towing vehicle (10) at the end of the distance travelled (19) including the deployed length (L) of the towed antenna and the towing depth of the acoustics section.
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公开(公告)号：EP1410060B1
公开(公告)日：2006-08-23
申请号：EP02735382.0
申请日：2002-05-27
IPC分类号： G01S3/802
CPC分类号： G01S3/8022 , G01S5/18
摘要： The invention relates to passive target data determination, wherein target noises are received with a sonar receiver device onboard a carrier vehicle and the bearing angle to a target is measured. An estimated bearing angle is detected on the basis of a target position that has been estimated with a speed-dependent path term and path component and speed component errors. A bearing angle difference relative to the measured bearing angle is then formed and iteratively minimized. A frequency analysis of target noise is carried out and reception frequency is measured in order to determine target data, said determination being adapted in time to tactical requirements, without inputting measured values of other sensors onboard and without performing any individual maneuver. A Doppler shift of an estimated transmitter frequency having a frequency error is determined on the basis of the estimated target positions and their changes in time in the direction of bearing and a Doppler frequency is estimated. The frequency difference between the measured reception frequency and the Doppler frequency is iteratively minimized along with the bearing angle difference. The position estimated when the minimum has been reached provides the target data.
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6.发明授权VERFAHREN UND VORRICHTUNG ZUM ERKENNEN VON KURSÄNDERUNGEN UND/ODER GESCHWINDIGKEITSÄNDERUNGEN EINES ZIELS 有权用于识别过程变化和/或速度的方法和装置改变目的地
公开(公告)号：EP2539738B1
公开(公告)日：2014-02-12
申请号：EP10712310.1
申请日：2010-02-22
IPC分类号： G01S3/808
CPC分类号： G01S3/8083
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公开(公告)号：EP2294442B1
公开(公告)日：2013-01-23
申请号：EP09769186.9
申请日：2009-06-19
CPC分类号： G01S5/20 , G01S3/8083 , G01S3/8086 , G01S11/14
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公开(公告)号：EP2140283B1
公开(公告)日：2013-01-16
申请号：EP08716173.3
申请日：2008-03-03
CPC分类号： G01S3/8022 , G01S3/8027 , G01S5/20 , G01S11/14
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9.发明公开VERFAHREN UND VORRICHTUNG ZUM ERKENNEN VON KURSÄNDERUNGEN UND/ODER GESCHWINDIGKEITSÄNDERUNGEN EINES ZIELS 有权用于识别过程变化和/或速度的方法和装置改变目的地
公开(公告)号：EP2539738A1
公开(公告)日：2013-01-02
申请号：EP10712310.1
申请日：2010-02-22
CPC分类号： G01S3/8083
摘要： The invention relates to a method for identifying changes of course and/or speed for a destination using a multiplicity of measured bearing angles (22) which are ascertained by virtue of the directionally selective reception of sound waves emitted from the destination using an arrangement of water borne sound pickups (86) in a sonar receiving installation. To this end, a first bearing profile (40) is calculated from a predetermined number k of most recently ascertained bearing angles, and a second bearing profile (42) is calculated from a predetermined number i of earlier bearing angles ascertained before the k bearing angles. An expected bearing angle (56, 58) for each of the two bearing profiles (40, 42) is calculated at a current time (54) and is used to form a bearing angle difference |
d |. This bearing angle difference |
d | can be compared with a plurality of threshold values C1, C2, wherein an intersection point (72) for the bearing profiles (40, 42) and an associated target manoeuvre time (74) are ascertained when one of the threshold values C1, C2 is reached and are output together with an information signal (75) relating to the identification of the target manoeuvre. The invention also relates to an apparatus for carrying out such a method.-
10.发明授权VERFAHREN ZUM BESTIMMEN DER MOMENTANEN POSITION EINER AKUSTIKSEKTION EINER SCHLEPPANTENNE 有权用于确定TOWED天线的声学会议的当前位置
公开(公告)号：EP1999491B1
公开(公告)日：2010-12-29
申请号：EP07703490.8
申请日：2007-02-16
IPC分类号： G01V1/38
CPC分类号： G01V1/3835
摘要： A method is specified for determining the instantaneous position of an acoustics section of a towed antenna (11) which is towed by a towing vehicle (10) in the water. In order to determine a sufficiently accurate position without additional hardware complexity and with no need for demanding computation power, the position of the acoustics section is fixed at at least one selected point (14) in the acoustics section, and the position (Pt2) of the selected point (14) is estimated after the towing vehicle (10) has travelled over a defined distance (19), by means of a model from the positions (Ot1, Pt1) assumed by the towing vehicle (10) and the selected point (14) at the start of the distance travelled (19) and the position (Ot2) assumed by the towing vehicle (10) at the end of the distance travelled (19) including the deployed length (L) of the towed antenna and the towing depth of the acoustics section.
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