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EP0214525B1 - Submarine craft - Google Patents

Submarine craft Download PDF

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Publication number
EP0214525B1
EP0214525B1 EP86111539A EP86111539A EP0214525B1 EP 0214525 B1 EP0214525 B1 EP 0214525B1 EP 86111539 A EP86111539 A EP 86111539A EP 86111539 A EP86111539 A EP 86111539A EP 0214525 B1 EP0214525 B1 EP 0214525B1
Authority
EP
European Patent Office
Prior art keywords
hull
vessel
streamer
retaining
underwater
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
EP86111539A
Other languages
German (de)
French (fr)
Other versions
EP0214525A1 (en
Inventor
Egidius Arens
Peter Kühnle
Manfred Meyersieck
Alfred Schulte
Ulrich Dr. Stumpff
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Atlas Elektronik GmbH
Original Assignee
Fried Krupp AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fried Krupp AG filed Critical Fried Krupp AG
Publication of EP0214525A1 publication Critical patent/EP0214525A1/en
Application granted granted Critical
Publication of EP0214525B1 publication Critical patent/EP0214525B1/en
Expired legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/39—Arrangements of sonic watch equipment, e.g. low-frequency, sonar
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
    • G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
    • G10K11/004—Mounting transducers, e.g. provided with mechanical moving or orienting device
    • G10K11/006—Transducer mounting in underwater equipment, e.g. sonobuoys

Definitions

  • the invention relates to an underwater vehicle, in particular a submarine, with at least one side antenna arranged on the vehicle body and extending in the longitudinal direction of the vehicle for receiving acoustic signals.
  • each side antenna arranged on port and starboard also called flank array sonar (FAS)
  • FAS flank array sonar
  • Noise sources in the underwater vehicle such as drive motors and the like, generate not insignificant noises which are transmitted via the vehicle body to the hydrophones of the side antennas attached to the vehicle body. Since this so-called structure-borne noise largely covers the useful sound received by the hydrophones as background noise, structure-borne noise decoupling of the hydrophones is essential.
  • the invention is based on the object in a watercraft, in particular a submarine, with the side antenna to construct the latter in such a way and to connect it to the vehicle body that a technically simple attachment of the side antenna to the vehicle body is achieved while maintaining good structure-borne noise decoupling of the individual hydrophones.
  • This constructive training is intended to allow the side antenna to be retrofitted to the vehicle body that has already been completed without further ado and at a reasonable cost.
  • the well-known hydrophone streamer which in its construction z. B. is shown and described in US-A-4,160,229 and has found its first use as a seismic measurement, consists of a hydrophone chain in which the individual hydrophones are coupled between the spacer elements in a completely decoupled manner.
  • the spacer elements and the individual hydrophones are surrounded by a sheath, and the electrical connecting lines to the individual hydrophones are routed as a wire harness inside the sheath.
  • the cover which is closed at the end, is filled with a liquid which, on the one hand, acoustically decouples the individual hydrophones from one another and, on the other hand, is used to make the streamer buoyancy-neutral.
  • Such hydrophone streamers are currently also used in large lengths as tow antennas or towed arrays drawn by submarines in the water.
  • the structure of the side antenna according to the invention and its attachment to the vehicle body ensures very good structure-borne noise decoupling of the individual hydrophones.
  • the side antenna can be easily retrofitted to the vehicle body that has already been manufactured, and at such low retrofitting costs that retrofitting submarines with side antennas is very attractive.
  • An advantageous embodiment of the invention results from claim 2. This measure results in a very simple mounting of the streamer on the vehicle body with good structure-borne noise isolation. This structure-borne noise decoupling is further improved in the exemplary embodiment of the invention according to claim 4 in that the spacer elements of the hydrophone streamer are additionally largely elastically suspended on the holding members fastened to the vehicle body.
  • An advantageous embodiment of the invention also results from claim 5.
  • the coating of the vehicle body in the area of the streamer results in damping of the signals acoustically emitted by the side wall. Such acoustic signal radiation can be triggered both by natural vibrations of the side wall and by reflections of useful signals on the side wall.
  • An advantageous embodiment of the invention results from claim 8.
  • These measures make it possible to significantly increase the distance from the side antenna to the vehicle body and at the same time the maneuverability of the vehicle, for. B. when creating, not to interfere. or to effectively protect the side antennas from damage or destruction during necessary maneuvers of the vehicle.
  • the distance of the side antenna of approx. 60-100 cm from the vehicle body that can be achieved with the specified measures is sufficient to almost completely eliminate the influence of the vehicle body on noise and to ensure a very good S / N ratio of the side antenna.
  • An advantageous embodiment of the invention results from claim 11. This measure folds the side antenna in not only in a protected area on the vehicle body. spent, but at the same time lifted out of the water, so that maintenance or repair of the side antenna is possible without having to dock the watercraft itself.
  • the submarine shown in FIG. 1 as an example of an underwater vehicle has an elongated hull in a known manner. 10 and one of them towering entry tower 11.
  • a side antenna 12 is attached to the hull 10 slightly below the center line, of which only the starboard side antenna can be seen in FIG. 1.
  • the side antenna extends over a substantial part of the longitudinal extent of the hull 10 and is preferably located exclusively in the rectilinearly stretched area of the hull 10.
  • the side antenna 12 which has a length of approximately 30 m, consists of a hydrophone streamer 13 enclosed by an enveloping body 14 (FIG. 2).
  • a hydrophone streamer 13 also called hydrophone drag chain or seismic measuring cable, is known per se.
  • An embodiment of such a hydrophone streamer 13 is described in US-A-4,160,229 or in DE-A-29 41 028.
  • the hydrophone streamer 13 shown here in detail and in section in FIG. 3 is described in DE-A-2719 951 (there FIG. 8), so that the structure of the hydrophone streamer 13 is only briefly explained here for the sake of clarity.
  • the hydrophone streamer 13 has a hose jacket 15 which is supported by shaped pieces 16 at certain intervals. These spacer elements formed by the shaped pieces 16 each consist of two prefabricated plastic molded parts 161, 162 with through openings 17, 18 for two line strands 19, 20, in which the connecting lines leading to hydrophones 21 are combined.
  • the fittings 161, 162 are on two pull cables 22, 23 at certain intervals, for. B. by clamping sleeves 24, and thus securely held against longitudinal displacement.
  • the hydrophones 21 arranged at certain intervals in the hose jacket 15 are each arranged between two shaped pieces 16.
  • the hydrophones 21 (FIG. 4), which are cylindrical in design, are seated in a holder 25 clamped on the pull cables 22, 23.
  • This holder is simply composed of two resilient halves 251, 252, for example made of plastic, the pull cables 22, 23 of which each half-comprehensive end portions are held together by spring clips 26.
  • the middle part of the assembled holder 25 encloses a cylindrical cavity for receiving the hydrophone 21, which is resiliently held therein.
  • the hose jacket 15 is filled with liquid, which ensures good acoustic transmission properties between the hydrophones 21 and the hose jacket 15.
  • the hydrophone streamer 13 is shown only schematically in cross section as a unit. It is held by holding members 27 on the hull 10 at a distance from the latter.
  • the holding members 27 are arranged at a uniform distance from one another over the longitudinal extent of the hydrophone streamer 13, the spacing of the holding members 27 from one another being selected such that the hydrophone streamer 13 is held in the region of its spacing elements 16 (FIG. 3).
  • the holding members 27 are on a foundation 28 connected to the hull 10, for. B. fastened by screwing and wear on their free end faces clamp-like fasteners 29 which encompass the hydrophone streamer 13 around its hose jacket 15. Between each fastener 29 and the hose jacket 15 of the hydrophone streamer 13 is a sound decoupling elastic insert 30 which, for.
  • the B. can be made of plastic or rubber.
  • the hydrophone streamer 13 and the holding members 27 with their fastening elements 29 are covered by the enveloping body 14, which is closed on both end faces and is fastened to fastening tabs 31 connected to the foundation 28.
  • the outer skin of the hull 10 is provided with a sound-absorbing or sound-absorbing coating 32 in the immediate vicinity of the hydrophone streamer 13.
  • the coating 32 expediently also covers the foundation 28.
  • the side antenna 112 which is again designed as a hydrophone streamer 113, is attached to two movable holding arms 133, 134.
  • a traction cable 135 or 136 engages on each end face of the hydrophone streamer 113.
  • the traction cables 135, 136 can be wound up via cable winches, not shown, arranged in the hull 110, so that the hydrophone streamer 113 assumes a largely straight stretch position between the holding arms 133, 134.
  • the holding arms 133, 134 are designed to be movable relative to the hull 110.
  • a drive mechanism 137 (FIG. 6) engages on each holding arm 133, 134, by means of which the holding arm 133 or 134 can be transferred into two different positions.
  • the holding arms 133, 134 are designed as pressure-medium-driven telescopic rods 138 which can be extended and retracted in the horizontal direction.
  • the drive mechanism 137 is formed by a hydraulic cylinder 139 which is connected to a hydraulic system (not shown) via two separate pressure lines 140, 141. At their free end, the telescopic rods 138 each carry a fastening element 129 encompassing the hydrophone streamer 113.
  • the hull 110 consists in a known manner of an inner pressure body 142 and a hull 143 that surrounds the pressure body 142 at a distance.
  • the space 144 between the hull 143 and the pressure body 142 is flooded.
  • the drive mechanism 137 is expediently arranged in the intermediate space 144 and fastened to the hull 142.
  • the holding arms 133, 134 in the form of the telescopic rods 138- pass through recesses 145 in the ship's hull 143.
  • the hydrophone streamer 113 is protected between beads 146, 147, which each surround a recess 145 in the hull 143.
  • the hydrophone streamer 113 assumes a maximum distance from the hull 110.
  • the extension length of the telescopic rods 138 is dimensioned such that the hydrophone streamer 113 is now essentially outside the acoustic near field of sound radiation emanating from the hull 110.
  • both holding positions of the holding arms 133, 134 lie in a horizontal plane 148.
  • the position of this horizontal plane 148 with respect to the hull 110 is such that the hull 110 has its greatest horizontal width dimension here.
  • the hydrophone streamer 213 or 313 is in turn attached to two holding arms which are movable with respect to the hull 210 or 310, of which only the one a holding arm 233 or 333 can be seen.
  • the holding arms - as shown in FIG. 8 for the holding arm 233 - are each held on the hull 243 about a horizontal pivot axis 249 pointing in the longitudinal direction of the ship.
  • the holding arm 233 is pivoted via a pivoting lever 250, which in turn is driven by a hydraulic cylinder 239.
  • FIG. 8 shows the holding arm 233 for the starboard side antenna 212 in its state when it is folded against the hull 210 and the holding arm 233 for the port side antenna 212 in its state when it is folded down from the hull 210.
  • the shape of the holding arms 233 is adapted to the curvature of the ship's hull 243, so that they bear largely positively on the latter.
  • the hydrophone streamer 213 and 313 also lies in the second holding arm position, folded away from the hull 210 and 310, in the horizontal plane 248 and 348, in which the hull 210 and -310 is also its largest Has width dimension.
  • the hydrophone streamer 213 lies below this horizontal plane 248 and the hydrophone streamer 313 lies above this horizontal plane 348, the latter position being selected such that the hydrophone streamer 313 lies above the water surface 351 when the submarine is exposed.
  • the invention is not restricted to the exemplary embodiment described above.
  • the hydrophone streamer can also be constructed in a different way, as shown and described here in FIGS. 3 and 4. Practical - all commercially available hydrophone streamers with the appropriate length can be used.
  • the attachment of the hydrophone streamer to the hull of the hull is also not mandatory. If required for certain purposes, the hydrophone streamer can also be placed along the deck of the hull.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Multimedia (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Acyclic And Carbocyclic Compounds In Medicinal Compositions (AREA)

Description

Die Erfindung betrifft ein Unterwasserfahrzeug, insbesondere ein U-Boot, mit mindestens einer am Fahrzeugkörper angeordneten, sich in Fahrzeuglängsrichtung erstreckenden Seitenantenne zum Empfang akustischer Signale.The invention relates to an underwater vehicle, in particular a submarine, with at least one side antenna arranged on the vehicle body and extending in the longitudinal direction of the vehicle for receiving acoustic signals.

Bei einem bekannten Unterwasserfahrzeug dieser Art besteht jede an Backbord und Steuerbord angeordnete Seitenantenne, auch Flank Array Sonar (FAS) genannt, aus einer Vielzahl nebeneinander äquidistant angeordneten Hydrophonen. Durch im Unterwasserfahrzeug vorhandene Geräuschquellen, wie Antriebsmotoren und dergl., werden nicht unerhebliche Geräusche erzeugt, die über den Fahrzeugkörper auf die Hydrophone der an dem Fahrzeugkörper befestigten Seitenantennen übertragen werden. Da dieser sog. Körperschall den von den Hydrophonen empfangenen Nutzschall als Störschall weitgehend überdeckt, ist eine Körperschallentkopplung der Hydrophone unumgänglich. Eine solche Körperschallentkopplung durch Einzelaufhängung der Hydrophone am- Fahrzeugkörper (vgl. z. B. DE-C-906425) ist sehr aufwendig und als Nachrüstung bei bereits fertiggestellten Unterwasserfahrzeugen aus Kostengründen nahezu undurchführbar.In a known underwater vehicle of this type, each side antenna arranged on port and starboard, also called flank array sonar (FAS), consists of a large number of hydrophones arranged equidistantly next to one another. Noise sources in the underwater vehicle, such as drive motors and the like, generate not insignificant noises which are transmitted via the vehicle body to the hydrophones of the side antennas attached to the vehicle body. Since this so-called structure-borne noise largely covers the useful sound received by the hydrophones as background noise, structure-borne noise decoupling of the hydrophones is essential. Such decoupling of structure-borne noise by means of individual suspension of the hydrophones on the vehicle body (cf., for example, DE-C-906425) is very complex and, as a retrofit for underwater vehicles that have already been completed, is almost impractical for reasons of cost.

Der Erfindung liegt die Aufgabe zugrunde, bei einem Wasserfahrzeug, insbesondere einem U-Boot, mit Seitenantenne letztere konstruktiv derart auszubilden und mit dem Fahrzeugkörper zu verbinden, daß eine technisch einfache Befestigung der Seitenantenne am Fahrzeugkörper bei Aufrechterhaltung guter Körperschallentkopplung der Einzelhydrophone erreicht wird. Diese konstruktive Ausbildung soll dabei auch ohne weiteres und zu erträglichen Kosten eine nachträgliche Anbringung der Seitenantenne am bereits fertiggestellten Fahrzeugkörper zulassen.The invention is based on the object in a watercraft, in particular a submarine, with the side antenna to construct the latter in such a way and to connect it to the vehicle body that a technically simple attachment of the side antenna to the vehicle body is achieved while maintaining good structure-borne noise decoupling of the individual hydrophones. This constructive training is intended to allow the side antenna to be retrofitted to the vehicle body that has already been completed without further ado and at a reasonable cost.

Die Aufgabe ist bei einem Unterwasserfahrzeug der im Oberbegriff des Anspruchs 1 angegebenen Gattung erfindungsgemäß durch die Merkmale im Kennzeichenteil des Anspruchs 1 gelöst.The object is achieved according to the invention in an underwater vehicle of the type specified in the preamble of claim 1 by the features in the characterizing part of claim 1.

Der bekannte Hydrophon-Streamer, der in seinem Aufbau z. B. in der US-A-4,160,229 dargestellt und beschrieben ist und als seismisches Meßkabei seinen ersten Einsatz gefunden hat, besteht aus einer Hydrophonkette, in welcher die Einzelhydrophone völlig entkoppelt zwischen Abstandselementen eingeknüpft sind. Die Abstandselemente und die Einzelhydrophone sind von einer Hülle umgeben, und die elektrischen Verbindungsleitungen zu den einzelnen Hydrophonen sind als Kabelbaum im Innern der Hülle geführt. Die endseitig abgeschlossene Hülle ist mit einer Flüssigkeit gefüllt, die einerseits die Einzelhydrophone voneinander akustisch entkoppelt und andererseits dazu benutzt wird, den Streamer auftriebsneutral zu machen. Solche Hydrophon-Streamer werden derzeit in großer Länge auch als von U-Booten im Wasser nachgezogene Schleppantennen oder Towed Arrays verwendet.The well-known hydrophone streamer, which in its construction z. B. is shown and described in US-A-4,160,229 and has found its first use as a seismic measurement, consists of a hydrophone chain in which the individual hydrophones are coupled between the spacer elements in a completely decoupled manner. The spacer elements and the individual hydrophones are surrounded by a sheath, and the electrical connecting lines to the individual hydrophones are routed as a wire harness inside the sheath. The cover, which is closed at the end, is filled with a liquid which, on the one hand, acoustically decouples the individual hydrophones from one another and, on the other hand, is used to make the streamer buoyancy-neutral. Such hydrophone streamers are currently also used in large lengths as tow antennas or towed arrays drawn by submarines in the water.

Der erfindungsgemäße Aufbau der Seitenantenne und ihre Befestigung am Fahrzeugkörper gewährleistet eine sehr gute Körperschallentkopplung der Einzelhydrophone. Die Seitenanfenne kann sehr einfach am bereits gefertigten Fahrzeugkörper nachträglich angebracht werden, und zwar zu so geringen Nachrüstkosten, daß eine Nachrüstung von U-Booten mit Seitenantennen sehr attraktiv ist.The structure of the side antenna according to the invention and its attachment to the vehicle body ensures very good structure-borne noise decoupling of the individual hydrophones. The side antenna can be easily retrofitted to the vehicle body that has already been manufactured, and at such low retrofitting costs that retrofitting submarines with side antennas is very attractive.

Eine vorteilhafte Ausführungsform der Erfindung ergibt sich dabei aus Anspruch 2. Durch diese Maßnahme wird eine sehr einfache Halterung des Streamers am Fahrzeugkörper bei guter Körperschallentkopplung erzielt. Verbessert wird diese Körperschallentkopplung bei dem Ausführungsbeispiel der Erfindung gemäß Anspruch 4 noch dadurch, daß die Abstandselemente des Hydrophon-Streamers an den am Fahrzeugkörper befestigten Haltegliedern noch zusätzlich weitgehend elastisch aufgehängt sind.An advantageous embodiment of the invention results from claim 2. This measure results in a very simple mounting of the streamer on the vehicle body with good structure-borne noise isolation. This structure-borne noise decoupling is further improved in the exemplary embodiment of the invention according to claim 4 in that the spacer elements of the hydrophone streamer are additionally largely elastically suspended on the holding members fastened to the vehicle body.

Eine vorteilhafte Ausführungsform der Erfindung ergibt sich auch aus Anspruch 5. Durch die Beschichtung des Fahrzeugkörpers im Bereich des Streamers wird eine Dämpfung der von der Bordwand akustisch abgestrahlten Signale erzielt. Eine solche akustische Signalabstrahlung kann sowohl durch Eigenschwingungen der Bordwand als auch durch Reflexionen von Nutzsignalen an der Bordwand ausgelöst werden.An advantageous embodiment of the invention also results from claim 5. The coating of the vehicle body in the area of the streamer results in damping of the signals acoustically emitted by the side wall. Such acoustic signal radiation can be triggered both by natural vibrations of the side wall and by reflections of useful signals on the side wall.

Eine vorteilhafte Ausführungsform der Erfindung ergibt sich aus Anspruch 8. Durch diese Maßnahmen gelingt es, den Abstand der Seitenantenne zum Fahrzeugkörper erheblich zu vergrößern und zugleich die Manövrierfähigkeit des Fahrzeugs, z. B. beim Anlegen, nicht zu beeinträchtigen. bzw. die Seitenantennen bei notwendigen Manövern des Fahrzeugs vor Beschädigung oder Zerstörung wirksam zu schützen. Der mit den angegebenen Maßnahmen erreichbare Abstand der Seitenantenne von ca. 60-100 cm vom Fahrzeugkörper ist ausreichend, um den nutzschallstörenden Einfluß des Fahrzeugkörpers nahezu vollständig zu eliminieren und ein sehr gutes S/N-Verhältnis der Seitenantenne sicherzustellen.An advantageous embodiment of the invention results from claim 8. These measures make it possible to significantly increase the distance from the side antenna to the vehicle body and at the same time the maneuverability of the vehicle, for. B. when creating, not to interfere. or to effectively protect the side antennas from damage or destruction during necessary maneuvers of the vehicle. The distance of the side antenna of approx. 60-100 cm from the vehicle body that can be achieved with the specified measures is sufficient to almost completely eliminate the influence of the vehicle body on noise and to ensure a very good S / N ratio of the side antenna.

Eine vorteilhafte Ausführungsform der Erfindung ergibt sich aus Anspruch 9. Durch diese Maßnahme erhält man eine aus akustischer Sicht optimale Anordnung der Seitenantenne am Fahrzeugkörper.An advantageous embodiment of the invention results from claim 9. This measure provides an acoustically optimal arrangement of the side antenna on the vehicle body.

Eine vorteilhafte Ausführungsform der Erfindung ergibt sich aus Anspruch 10. Durch diese Maßnahme wird die Seitenantenne im angeklappten Zustand in einen Bereich am Fahrzeugkörper verbracht, in welchem bei Anlegemanövern des Fahrzeugs - selbst unter Berücksichtigung der seegangsbedingten Schwankungen des Fahrzeugkörpers um seine Längsachse - eine ausreichende Sicherheit der Seitenantenne gegen mechanische Zerstörung oder Beschädigung gegeben ist.An advantageous embodiment of the invention results from claim 10. This measure brings the side antenna in the folded state into an area on the vehicle body in which, when taking into account maneuvers of the vehicle - even taking into account the sea-related fluctuations of the vehicle body about its longitudinal axis - adequate security of Side antenna against mechanical destruction or damage is given.

Eine vorteilhafte Ausführungsform der Erfindung ergibt sich aus Anspruch 11. Durch diese Maßnahme wird die Seitenantenne im angeklappten Zustand nicht nur in einen geschützten Bereich am Fahrzeugkörper. verbracht, sondern zugleich aus dem Wasser ausgehoben, so daß eine Wartung oder Reparatur der Seitenantenne möglich ist, ohne das Wasserfahrzeug selbst eindocken zu müssen.An advantageous embodiment of the invention results from claim 11. This measure folds the side antenna in not only in a protected area on the vehicle body. spent, but at the same time lifted out of the water, so that maintenance or repair of the side antenna is possible without having to dock the watercraft itself.

Eine vorteilhafte Ausführungsform der Erfin- dung ergibt sich auch aus Anspruch 14. Durch diese Maßnahmen wird trotz der schwenkbaren Haltearme in jeder Haltearmposition eine ausreichend gerade Streckung der als Hydrophon-Streamer ausgebildeten Seitenantenne erzielt. Die beiden Zugseile können mittels im Fahrzeug angeordneter getrennter Seilwinden nachgespannt werden.An advantageous embodiment of the domestic f He dung is also clear from claim 14. By these measures is obtained a sufficiently straight extension of the designed as a hydrophone streamer side antenna despite the pivotable holding arms in each Haltearmposition. The two traction cables can be retensioned using separate cable winches arranged in the vehicle.

Die Erfindung ist anhand von in der Zeichnung dargestellten Ausführungsbeispielen im nachfolgenden näher beschrieben. Es zeigen :

  • Fig. 1 eine schematische Darstellung eines mit einer Seitenantenne ausgerüsteten U-Bootes,
  • Fig. 2 einen Querschnitt einer Seitenantenne am U-Boot gemäß Fig. 1,
  • Fig. 3 ausschnittsweise einen Längsschnitt eines Hydrophon-Streamers,
  • Fig. 4 einen Querschnitt längs der Linie IV-IV in Fig. 3,
  • Fig. 5 eine schematische Darstellung eines mit einer Seitenantenne gemäß einem weiteren Ausführungsbeispiel ausgerüsteten U-Bootes,
  • Fig. 6 ausschnittsweise einen vergrößerten Querschnitt des U-Bootes in Fig. 5, schematisch dargestellt,
  • Fig. 7 eine schematische Skizze einer Vorderansicht eines U-Bootes mit einer Seitenantenne gemäß einem dritten (linke Hälfte) und einem vierten (rechte Hälfte) Ausführungsbeispiel,
  • Fig. 8 ausschnittsweise eine vergrößerte schematische Darstellung eines Querschnitts des U-Bootes in Fig. 7 mit der Seitenantenne gemäß dem dritten Ausführungsbeispiel.
The invention is described in more detail below with reference to exemplary embodiments shown in the drawing. Show it :
  • 1 is a schematic representation of a submarine equipped with a side antenna,
  • 2 shows a cross section of a side antenna on the submarine according to FIG. 1,
  • 3 shows a detail of a longitudinal section of a hydrophone streamer,
  • 4 shows a cross section along the line IV-IV in FIG. 3,
  • 5 shows a schematic illustration of a submarine equipped with a side antenna according to a further exemplary embodiment,
  • 6 shows a detail of an enlarged cross section of the submarine in FIG. 5, shown schematically,
  • 7 is a schematic sketch of a front view of a submarine with a side antenna according to a third (left half) and a fourth (right half) embodiment,
  • Fig. 8 is a fragmentary enlarged schematic representation of a cross section of the submarine in Fig. 7 with the side antenna according to the third embodiment.

Das in Fig. 1 als Beispiel eines Unterwasserfahrzeugs dargestellte U-Boot weist in bekannter Weise einen langgestreckten Schiffskörper. 10 und einen davon emporragenden Einstiegsturm 11 auf. An Backbord und Steuerbord ist am Schiffskörper 10 etwas unterhalb der Mittellinie jeweils eine Seitenantenne 12 befestigt, von welchen in Fig. 1 nur die Steuerbord-Seitenantenne zu sehen ist. Die Seitenantenne erstreckt sich über einen wesentlichen Teil der Längserstreckung des Schiffskörpers 10 und liegt vorzugsweise ausschließlich in dem geradlinig gestreckten Bereich des Schiffskörpers 10.The submarine shown in FIG. 1 as an example of an underwater vehicle has an elongated hull in a known manner. 10 and one of them towering entry tower 11. On port and starboard, a side antenna 12 is attached to the hull 10 slightly below the center line, of which only the starboard side antenna can be seen in FIG. 1. The side antenna extends over a substantial part of the longitudinal extent of the hull 10 and is preferably located exclusively in the rectilinearly stretched area of the hull 10.

Die Seitenantenne 12, die eine Länge von ca. 30 m hat, besteht aus einem von einem Hüllkörper 14 umschlossenen Hydrophon-Streamer 13 (Fig. 2). Ein solcher Hydrophon-Streamer 13, auch Hydrophon-Schleppkette oder seismisches Meßkabel genannt, ist an sich bekannt. Ein Ausführungsbeispiel eines solchen Hydrophon-Streamers 13 ist in der US-A-4,160,229 oder in der DE-A-29 41 028 beschrieben. Der hier in Fig. 3 ausschnittsweise und im Schnitt dargestellte Hydrophon-Streamer 13 ist in der DE-A-2719 951 (dort Fig. 8) beschrieben, so daß der Aufbau des Hydrophon-Streamers 13 hier nur der Übersichtlichkeit halber kurz erläutert wird.The side antenna 12, which has a length of approximately 30 m, consists of a hydrophone streamer 13 enclosed by an enveloping body 14 (FIG. 2). Such a hydrophone streamer 13, also called hydrophone drag chain or seismic measuring cable, is known per se. An embodiment of such a hydrophone streamer 13 is described in US-A-4,160,229 or in DE-A-29 41 028. The hydrophone streamer 13 shown here in detail and in section in FIG. 3 is described in DE-A-2719 951 (there FIG. 8), so that the structure of the hydrophone streamer 13 is only briefly explained here for the sake of clarity.

Der Hydrophon-Streamer 13 weist einen Schlauchmantel 15 auf, der durch Formstücke 16 in bestimmten Abständen abgestützt ist. Diese von den Formstücken 16 gebildeten Abstandselemente bestehen jeweils aus zwei vorgefertigten Kunststoff-Formteilen 161, 162 mit Durchgangsöffnungen 17, 18 für zwei Leitungsstränge 19, 20, in welchen die zu Hydrophonen 21 führenden Verbindungsleitungen zusammengefaßt sind. Die Formstücke 161, 162 sind auf zwei Zugseilen 22, 23 in bestimmten Abständen, z. B. durch Klemmhülsen 24, befestigt und somit gegen Längsverschiebung sicher gehalten.The hydrophone streamer 13 has a hose jacket 15 which is supported by shaped pieces 16 at certain intervals. These spacer elements formed by the shaped pieces 16 each consist of two prefabricated plastic molded parts 161, 162 with through openings 17, 18 for two line strands 19, 20, in which the connecting lines leading to hydrophones 21 are combined. The fittings 161, 162 are on two pull cables 22, 23 at certain intervals, for. B. by clamping sleeves 24, and thus securely held against longitudinal displacement.

Die in bestimmten Abständen im Schlauchmantel 15 angeordneten Hydrophone 21 sind jeweils zwischen zwei Formstücken 16 angeordnet. Die hier zylindrisch ausgebildeten Hydrophone 21 (Fig. 4) sitzen dabei in einer auf den Zugseilen 22, 23 festgeklemmten Halterung 25. Diese Halterung ist einfach aus zwei beispielsweise aus Kunststoff geformten, federnd nachgiebigen Hälften 251, 252 zusammengesetzt, deren die Zugseile 22, 23 jeweils halb umfassenden Endabschnitte durch Federklammern 26 zusammengehalten sind. Der mittlere Teil der zusammengesetzten Halterung 25 umschließt einen zylindrischen Hohlraum zur Aufnahme des darin federnd gehaltenen Hydrophons 21. Der Schlauchmantel 15 ist mit Flüssigkeit gefüllt, die für gute akustische Übertragungseigenschaften zwischen den Hydrophonen 21 und dem Schlauchmantel 15 sorgt.The hydrophones 21 arranged at certain intervals in the hose jacket 15 are each arranged between two shaped pieces 16. The hydrophones 21 (FIG. 4), which are cylindrical in design, are seated in a holder 25 clamped on the pull cables 22, 23. This holder is simply composed of two resilient halves 251, 252, for example made of plastic, the pull cables 22, 23 of which each half-comprehensive end portions are held together by spring clips 26. The middle part of the assembled holder 25 encloses a cylindrical cavity for receiving the hydrophone 21, which is resiliently held therein. The hose jacket 15 is filled with liquid, which ensures good acoustic transmission properties between the hydrophones 21 and the hose jacket 15.

In Fig. 2 ist der Hydrophon-Streamer 13 im Querschnitt nur schematisch als Einheit dargestellt. Er wird von Haltegliedern 27 am Schiffskörper 10 mit Abstand von letzterem gehalten. Die Halteglieder 27 sind mit gleichmäßigem Abstand voneinander über die Längserstreckung des Hydrophon-Streamers 13 verteilt angeordnet, wobei der Abstand der Halteglieder 27 voneinander so gewählt ist, daß die Halterung des Hydrophon-Streamers 13 im Bereich seiner Abstandselemente 16 erfolgt (Fig. 3). Die Halteglieder 27 sind an einem mit dem Schiffskörper 10 verbundenen Fundament 28, z. B. durch Verschraubung, befestigt und tragen an ihren freien Stirnseiten schellenartige Befestigungselemente 29, die den Hydrophon-Streamer 13 um seinen Schlauchmantel 15 herum umgreifen. Zwischen jedem Befestigungselement 29 und dem Schlauchmantel 15 des Hydrophon-Streamers 13 ist eine der Schallentkopplung dienende elastische Einlage 30, die z. B. aus Kunststoff oder Gummi sein kann, angeordnet. Der Hydrophon-Streamer 13 und die Halteglieder 27 mit ihren Befestigungselementen 29 sind von dem Hüllkörper 14 überdeckt, der an beiden Stirnseiten abgeschlossen ist und an mit dem Fundament 28 verbundenen Befestigungslaschen 31 befestigt ist. In der unmittelbaren Umgebung des Hydrophon-Streamers 13 .ist die Außenhaut des Schiffskörpers 10 mit einer schalldämpfenden oder schallabsorbierenden Beschichtung 32 versehen. Zweckmäßigerweise überzieht die Beschichtung 32 auch das Fundament 28.In Fig. 2 the hydrophone streamer 13 is shown only schematically in cross section as a unit. It is held by holding members 27 on the hull 10 at a distance from the latter. The holding members 27 are arranged at a uniform distance from one another over the longitudinal extent of the hydrophone streamer 13, the spacing of the holding members 27 from one another being selected such that the hydrophone streamer 13 is held in the region of its spacing elements 16 (FIG. 3). The holding members 27 are on a foundation 28 connected to the hull 10, for. B. fastened by screwing and wear on their free end faces clamp-like fasteners 29 which encompass the hydrophone streamer 13 around its hose jacket 15. Between each fastener 29 and the hose jacket 15 of the hydrophone streamer 13 is a sound decoupling elastic insert 30 which, for. B. can be made of plastic or rubber. The hydrophone streamer 13 and the holding members 27 with their fastening elements 29 are covered by the enveloping body 14, which is closed on both end faces and is fastened to fastening tabs 31 connected to the foundation 28. The outer skin of the hull 10 is provided with a sound-absorbing or sound-absorbing coating 32 in the immediate vicinity of the hydrophone streamer 13. The coating 32 expediently also covers the foundation 28.

Bei dem in Fig. 5 schematisch dargestellten U-Boot ist die wiederum als Hydrophon-Streamer 113 ausgebildete Seitenantenne 112 an zwei beweglichen Haltearmen 133,134 befestigt. An jeder Stirnseite des Hydrophon-Streamers 113 greift ein Zugseil 135 bzw. 136 an. Die Zugseile 135, 136 können über nicht dargestellte, im Schiffskörper 110 angeordnete Seilwinden aufgewickelt werden, so daß der Hydrophon-Streamer 113 zwischen den Haltearmen 133, 134 eine weitgehend gerade Strecklage einnimmt.In the submarine shown schematically in FIG. 5, the side antenna 112, which is again designed as a hydrophone streamer 113, is attached to two movable holding arms 133, 134. A traction cable 135 or 136 engages on each end face of the hydrophone streamer 113. The traction cables 135, 136 can be wound up via cable winches, not shown, arranged in the hull 110, so that the hydrophone streamer 113 assumes a largely straight stretch position between the holding arms 133, 134.

Die Haltearme 133, 134 sind relativ zum Schiffskörper 110 beweglich ausgebildet. An jedem Haltearm 133, 134 greift ein Antriebsmechanismus 137 (Fig. 6) an, mittels dessen der Haltearm 133 bzw. 134 in zwei unterschiedliche Positionen überführt werden kann. In dem Ausführungsbeispiel in Fig. 5 und 6 sind die Haltearme 133, 134 als druckmittelgetriebene Teleskopstangen 138 ausgebildet, die in Horizontalrichtung ein- und ausgefahren werden können. Der Antriebsmechanismus 137 wird von einem Hydraulikzylinder 139 gebildet, der über zwei getrennte Druckleitungen 140, 141 mit einem nicht dargestellten Hydrauliksystem verbunden ist. Die Teleskopstangen 138 tragen an ihrem freien stirnseitigen Ende wiederum jeweils ein den Hydrophon-Streamer 113 umgreifendes Befestigungselement 129.The holding arms 133, 134 are designed to be movable relative to the hull 110. A drive mechanism 137 (FIG. 6) engages on each holding arm 133, 134, by means of which the holding arm 133 or 134 can be transferred into two different positions. In the exemplary embodiment in FIGS. 5 and 6, the holding arms 133, 134 are designed as pressure-medium-driven telescopic rods 138 which can be extended and retracted in the horizontal direction. The drive mechanism 137 is formed by a hydraulic cylinder 139 which is connected to a hydraulic system (not shown) via two separate pressure lines 140, 141. At their free end, the telescopic rods 138 each carry a fastening element 129 encompassing the hydrophone streamer 113.

In Fig. 6 ist nur der Haltearm 133 und in einer ersten Haltearmposition dargestellt, in welcher der Hydrophon-Streamer 113 unmittelbar am Schiffskörper 110 anliegt. Wie in Fig. 6 schematisch dargestellt ist, besteht der Schiffskörper 110 in bekannter Weise aus einem inneren Druckkörper 142 und einer den Druckkörper 142 mit Abstand umgebenden Schiffshülle 143. Der Zwischenraum 144 zwischen Schiffshülle 143 und Druckkörper 142 ist geflutet. Der Antriebsmechanismus 137 ist zweckmäßigerweise in dem Zwischenraum 144 angeordnet und an der Schiffshülle 142 befestigt. Die Haltearme 133, 134 in Form der Teleskopstangen 138- treten durch Ausnehmungen 145 in der Schiffshülle 143 hindurch. In dieser ersten Haltearmposition liegt der Hydrophon-Streamer 113 zwischen Wulsten 146, 147 geschützt, welche jeweils eine Ausnehmung 145 in der Schiffshülle 143 umgeben.6 shows only the holding arm 133 and in a first holding arm position, in which the hydrophone streamer 113 lies directly against the hull 110. As is shown schematically in FIG. 6, the hull 110 consists in a known manner of an inner pressure body 142 and a hull 143 that surrounds the pressure body 142 at a distance. The space 144 between the hull 143 and the pressure body 142 is flooded. The drive mechanism 137 is expediently arranged in the intermediate space 144 and fastened to the hull 142. The holding arms 133, 134 in the form of the telescopic rods 138- pass through recesses 145 in the ship's hull 143. In this first holding arm position, the hydrophone streamer 113 is protected between beads 146, 147, which each surround a recess 145 in the hull 143.

In der in Fig. 5 bzw. strichliniert in Fig. 6 dargestellten zweiten Haltearmposition, in welcher die Teleskopstangen 138 über die Hydraulikzylinder 139 vollständig ausgefahren sind, nimmt der Hydrophon-Streamer 113 einen maximalen Abstand vom Schiffskörper 110 ein. Die Ausfahrlänge der Teleskopstangen 138 ist so bemessen, daß der Hydrophon-Streamer 113 nunmehr im wesentlichen außerhalb des akustischen Nahfeldes einer vom Schiffskörper 110 ausgehenden Schallabstrahlung liegt.In the second holding arm position shown in FIG. 5 or in dashed lines in FIG. 6, in which the telescopic rods 138 are fully extended via the hydraulic cylinders 139, the hydrophone streamer 113 assumes a maximum distance from the hull 110. The extension length of the telescopic rods 138 is dimensioned such that the hydrophone streamer 113 is now essentially outside the acoustic near field of sound radiation emanating from the hull 110.

Wie aus Fig. 6 ersichtlich, liegen beide Haltepositionen der Haltearme 133, 134 in einer Horizontalebene 148. Die Lage dieser Horizontalebene 148 bezüglich des Schiffskörpers 110 ist derart, daß hier der Schiffskörper 110 seine größte horizontale Breitenabmessung aufweist.6, both holding positions of the holding arms 133, 134 lie in a horizontal plane 148. The position of this horizontal plane 148 with respect to the hull 110 is such that the hull 110 has its greatest horizontal width dimension here.

Bei den beiden in Fig. 7 schematisch skizzierten und jeweils in einer Symmetriehälfte dargestellten Varianten der Seitenantenne 212 bzw. 312 ist der Hydrophon-Streamer 213 bzw. 313 wiederum an zwei bezüglich des Schiffskörpers 210 bzw. 310 beweglichen Haltearmen befestigt, von denen jeweils nur der eine Haltearm 233 bzw. 333 zu sehen ist. Die Haltearme sind - wie in Fig. 8 für den Haltearm 233 dargestellt ist - jeweils um eine horizontale, in Schiffslängsrichtüng weisende Schwenkachse 249 an der Schiffshülle 243 gehalten. Die Schwenkung des Haltearms 233 erfolgt über einen Schwenkhebel 250, der wiederum von einem Hydraulikzylinder 239 angetrieben wird. In Fig. 8 ist der Haltearm 233 für die Steuerbord-Seitenantenne 212 in seinem an den Schiffskörper 210 angeklappten Zustand und der Haltearm 233 für die Backbord-Seitenantenne 212 in seinem vom Schiffskörper 210 abgeklappten Zustand dargestellt. Die Haltearme 233 sind in ihrer Form der Wölbung der Schiffshülle 243 angepaßt, so daß sie an dieser weitgehend formschlüssig anliegen.In the two variants of the side antenna 212 or 312 schematically sketched in FIG. 7 and each shown in a symmetry half, the hydrophone streamer 213 or 313 is in turn attached to two holding arms which are movable with respect to the hull 210 or 310, of which only the one a holding arm 233 or 333 can be seen. The holding arms - as shown in FIG. 8 for the holding arm 233 - are each held on the hull 243 about a horizontal pivot axis 249 pointing in the longitudinal direction of the ship. The holding arm 233 is pivoted via a pivoting lever 250, which in turn is driven by a hydraulic cylinder 239. FIG. 8 shows the holding arm 233 for the starboard side antenna 212 in its state when it is folded against the hull 210 and the holding arm 233 for the port side antenna 212 in its state when it is folded down from the hull 210. The shape of the holding arms 233 is adapted to the curvature of the ship's hull 243, so that they bear largely positively on the latter.

Bei beiden Seitenantennen 212 bzw. 213 liegt auch hier der Hydrophon-Streamer 213 bzw. 313 in der zweiten, vom Schiffskörper 210 bzw. 310 weggeklappten Haltearmposition in der Horizontalebene 248 bzw. 348, in welcher auch der Schiffskörper 210 bzw. -310 seine größte Breitenabmessung aufweist. In der zweiten Haltearmposition liegt der Hydrophon-Streamer 213 unterhalb dieser Horizontalebene 248 und der Hydrophon-Streamer 313 oberhalb dieser Horizontalebene 348, wobei letztere Position so gewählt ist, daß der Hydrophon-Streamer 313 bei aufgetauchtem U-Boot oberhalb der Wasseroberfläche 351 liegt.For both side antennas 212 and 213, the hydrophone streamer 213 and 313 also lies in the second holding arm position, folded away from the hull 210 and 310, in the horizontal plane 248 and 348, in which the hull 210 and -310 is also its largest Has width dimension. In the second holding arm position, the hydrophone streamer 213 lies below this horizontal plane 248 and the hydrophone streamer 313 lies above this horizontal plane 348, the latter position being selected such that the hydrophone streamer 313 lies above the water surface 351 when the submarine is exposed.

Die Erfindung ist nicht auf das vorstehend beschriebene Ausführungsbeispiel beschränkt. So kann der Hydrophon-Streamer auch in einer anderen Weise aufgebaut sein, wie hier in Fig. 3 und 4 dargestellt und beschrieben ist. Praktisch - können alle handelsüblichen Hydrophon-Streamer mit entsprechender Länge verwendet werden. Auch ist die Befestigung des Hydrophon-Streamers an der Bordwand des Schiffskörpers nicht zwingend. Wenn zu bestimmten Zwecken erforderlich, kann der Hydrophon-Streamer auch längs des Decks des Schiffskörpers angeordnet werden.The invention is not restricted to the exemplary embodiment described above. The hydrophone streamer can also be constructed in a different way, as shown and described here in FIGS. 3 and 4. Practical - all commercially available hydrophone streamers with the appropriate length can be used. The attachment of the hydrophone streamer to the hull of the hull is also not mandatory. If required for certain purposes, the hydrophone streamer can also be placed along the deck of the hull.

Claims (14)

1. An underwater vessel, more particularly a submarine having at least one flank array sonar disposed on the vessel's hull and extending in the lateral direction of the vessel to receive acoustic signals, characterized in that the flank array sonar (12; 112; 212 ; 312) is formed by a known hydrophone streamer (13 ; 113 ; 213 ; 313) which is retained over its longitudinal extension at a distance from the vessel's hull (10.; 110 ; 210 ; 310) by spaced-out retaining members (27 ; 133, 134 ; 233 ; 333) attached to the vessel's hull (10 110; 210 ; 310).
2. An underwater vessel according to claim 1, characterized in that the spacing of the retaining members (27) from one another is such that the streamer (13) is retained in the zone of those of its spacing elements (16) between which the hydrophones (21) are suspended.
3. An underwater vessel according to claims 1 or 2, characterized in that the retaining members (27) bear on their exposed end faces clamp-like attaching elements (29), each of which engages around the streamer (13).
4. An underwater vessel according to claim 3, characterized in that a resilient insert (30) used for sound decoupling, more particularly a layer of plastics or rubber, is disposed between the attaching elements (29) and the outer casing (15) of the streamer (13).
5. An underwater vessel according to claim 4, characterized in that the streamer (13) and the retaining members (27) are covered by an encasing member (14) extending as far as the vessel's hull.
6. An underwater vessel according to one of claims 1 to 5, characterized in that immediately adjacent the streamer (13), the outer skin of the vessel's hull (10) has a sound insulating or absorbing coating (32).
7. An underwater vessel according to one of claims 1 to 6, characterized in that the streamer (13) is attached to the side of the vessel's hull (10) and extends over a substantial portion of its longitudinal extension.
8. An underwater vessel according to one of claims 1 to 7, characterized in that the retaining members are constructed in the form of retaining arms (133,134; 233 ; 333) moveable in relation to the vessel's hull (110; 210 ; 310) ; a driving mechanism (137; 237) engages with the retaining arms (133, 134; 233 ; 333) to move the retaining arms (133, 134; 233 ; 333) into two different positions ; and the retaining arms (133,134 ; 233 ; 333) and driving mechanism (137; 237) are so constructed that the flank array sonar (112 ; 212 ; 312) bears directly against the vessel's hull (110 ; 210 ; 310) in the first retaining arm position, while in the second retaining arm position the flank array sonar is disposed at a distance from the vessel's hull (110 ; 210 ; 310), substantially outside the acoustic near field of a sound reflection emitted by the vessel's hull (110 ; 210 ; 310).
9. An underwater vessel according to claim 8, characterized in that the second retaining arm position lies in a horizontal plane (148 ; 248 ; 348) in which the.vessel's.hull (110 ; 210 ; 31-0) has its greatest horizontal width dimension:
10. An underwater vessel according to claim 9, characterized in that the first retaining arm position lies below the horizontal plane (148, 248, 348).
11. An underwater vessel according to claims 8 or 9, characterized in that the first retaining arm position lies above the water line (351) of the surfaced vessel's hull (310).
12. An underwater vessel according to one of claims 8 to 11, characterized in that the retaining arms (233 ; 333) are retained pivotably on the vessel's hull (210; 310) and the driving mechanism (237) has pneumatic or hydraulic piston drives (239) engaging with each retaining arm (233).
13. An underwater vessel according to one of claims,8 to 11, characterized in that the retaining arms (133) are constructed in the form of pressure-medium-driven horizontally extrudable telescopic rods (138).
14. An underwater vessel according to one of claims 8 to 13, characterized in that the hydrophone streamer (113) is retained by a total of two retaining arms (133, 134) and tensioned by means of two traction ropes (135, 136) engaging with the end faces of the streamer (113).
EP86111539A 1985-09-11 1986-08-20 Submarine craft Expired EP0214525B1 (en)

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DE19853532309 DE3532309A1 (en) 1985-09-11 1985-09-11 UNDERWATER VEHICLE
DE3532309 1985-09-11

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DE102008052352B3 (en) * 2008-10-20 2010-04-15 Atlas Elektronik Gmbh Device for fixing an underwater antenna
DE102008052355A1 (en) 2008-10-20 2010-04-22 Atlas Elektronik Gmbh Underwater antenna
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DE102008052352B3 (en) * 2008-10-20 2010-04-15 Atlas Elektronik Gmbh Device for fixing an underwater antenna
DE102008052355A1 (en) 2008-10-20 2010-04-22 Atlas Elektronik Gmbh Underwater antenna
EP2858892B1 (en) 2012-06-11 2016-08-10 Dcns Structure for an underwater vehicle such as a submarine
RU2696820C1 (en) * 2017-12-07 2019-08-06 Российская Федерация, от имени которой выступает ФОНД ПЕРСПЕКТИВНЫХ ИССЛЕДОВАНИЙ Method of underwater under-ice seismic survey and device for implementation thereof
RU2734492C1 (en) * 2020-01-27 2020-10-19 Акционерное общество "Центральное конструкторское бюро морской техники "Рубин" Seismic survey complex
WO2023165821A1 (en) * 2022-03-04 2023-09-07 Atlas Elektronik Gmbh Sonar receiver assembly

Also Published As

Publication number Publication date
NO863500L (en) 1987-03-12
ES2000882A6 (en) 1988-03-16
NO160987C (en) 1989-06-21
NO863500D0 (en) 1986-09-02
DE3532309A1 (en) 1987-03-19
NO160987B (en) 1989-03-13
DE3661132D1 (en) 1988-12-15
EP0214525A1 (en) 1987-03-18

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