U.S. patent number 3,853,081 [Application Number 03/770,235] was granted by the patent office on 1974-12-10 for method and apparatus for destroying submarines.
This patent grant is currently assigned to The United States of America as represented by the Secretary of the Navy. Invention is credited to Roland G. Daudelin, Robert S. Flum, Sr., Bob Norris, Lionel L. Woolston.
United States Patent |
3,853,081 |
Daudelin , et al. |
December 10, 1974 |
METHOD AND APPARATUS FOR DESTROYING SUBMARINES
Abstract
A submarine torpedo tube launched missile type weapon having a
water-to-ato-water flight path, comprising, a covered rocket motor
wherein the rocket motor cover is explosively released by explosive
bolt devices subsequent to launching and during an initial portion
of water travel flight. The rocket propelled weapon incorporates
electrically controlled vanes for water guidance by influence over
the exhaust discharge of the rocket motor together with separation
means for severance of the rocket motor portion from the missile
during air travel and guidance system controlled aerodynamic
control surfaces for guidance to a predetermined water re-entry
point.
Inventors: |
Daudelin; Roland G. (Silver
Spring, MD), Flum, Sr.; Robert S. (Oak Park, IL), Norris;
Bob (Silver Spring, MD), Woolston; Lionel L. (Silver
Spring, MD) |
Assignee: |
The United States of America as
represented by the Secretary of the Navy (Washington,
DC)
|
Family
ID: |
25087884 |
Appl.
No.: |
03/770,235 |
Filed: |
October 28, 1958 |
Current U.S.
Class: |
114/20.2; 60/230;
60/253; 60/263; 114/21.2; 114/23; 60/771 |
Current CPC
Class: |
F41G
7/36 (20130101); F41G 5/20 (20130101); F42B
19/30 (20130101); F42B 19/26 (20130101) |
Current International
Class: |
F41G
7/36 (20060101); F41G 5/00 (20060101); F41G
5/20 (20060101); F42B 19/26 (20060101); F42B
19/30 (20060101); F42B 19/00 (20060101); F41G
7/00 (20060101); F42b 019/00 () |
Field of
Search: |
;89/1.7B
;114/20,23,21W,21R |
Other References
missiles and Rockets, Jan. 1957, pp. 18-19. .
Aviation Week, Feb. 24, 1958, p. 57. .
Aviation Week, Apr. 21, 1958, p. 31..
|
Primary Examiner: Feinberg; Samuel
Attorney, Agent or Firm: Sciascia; R. S. Cooke; J. A.
Claims
What is claimed as new and desired to be secured by Letters Patent
of the United States is:
1. An anti-submarine missile adapted to be launched from the
torpedo tube of a submarine which comprises; a weapon portion
including a guidance section, a rocket motor portion secured to
said weapon portion, means fixed to said missile for orienting the
missile within the torpedo tube, a cover, explosive bolt means
disposed about said cover to releasably secure the cover to said
rocket motor portion and prevent water entry therein prior to
ignition of said rocket motor, means electrically connected to said
guidance section for igniting the rocket motor in the water when
the missile is at a safe distance from the submarine, said
explosive bolt means being electrically connected to said guidance
section for initiation by an electric signal therefrom to release
the cover from the rocket motor substantially simultaneously with
the ignition of said rocket motor to permit exhaust gases from the
rocket motor to blow off said cover, a plurality of vanes disposed
in the rocket exhaust and electrically connected to said guidance
section whereby said vanes are controlled by signals from the
guidance section to stabilize the missile and steer it out of the
water, means in said rocket motor portion electrically connected to
said guidance section for separating said rocket motor portion from
said weapon portion upon receipt of a signal from the guidance
section, and aerodynamic control means on said weapon portion
operatively connected to said guidance section for guiding the
missile toward a predetermined water reentry point.
2. A weapon system for a submarine having a torpedo tube
comprising; target tracking and computing apparatus aboard the
submarine, a missile disposed within the torpedo tube and adapted
to be launched therefrom, said missile including an explosive
warhead, a gyro controlled guidance section, a rocket motor section
and means disposed within said rocket motor section electrically
connected to said guidance section for igniting the rocket motor
after the missile is launched, and cable means releasably
connecting the target tracking and computing apparatus in the said
submarine to the guidance section of said missile to provide target
information to the guidance section and to connect said guidance
section to the submarine's power to operate said guidance section
when the missile is in the torpedo tube prior to launching of the
missile.
3. A method of destroying an enemy undersea craft comprising the
steps of; tracking the craft, launching a missile having a warhead
and a reaction type motor, igniting the motor under water, steering
the missile out of the water toward the craft, steering the missile
into the water near the craft, and detonating the warhead within
lethal range of the craft.
4. The method of claim 3 wherein the missile is ignited at about 2
to 5 missile lengths from the attacking submarine.
5. A system for destroying a submerged target submarine comprising;
target tracking and computing equipment aboard a submerged killer
submarine for tracking the target submarine and computing its
probable future position, a missile disposed within the torpedo
tube of the killer submarine for launching therefrom, said missile
including a depth bomb having a warhead and a guidance section, a
rocket motor releasably secured to said depth bomb, said rocket
motor containing a propellant and an igniter electrically connected
to said guidance section, lug means fixed to the depth bomb and to
said rocket motor to align the missile in the torpedo tube with
respect to said target tracking and computing equipment, expendable
cable means electrically connecting said shipboard target tracking
and computing apparatus to the guidance of said missile, power
supply means electrically connected to said cable means for
initiation by the killer submarine immediately prior to launching
and electrically connected to said guidance section to provide
power thereto subsequent to launching, a delay switch connected
between said guidance section and the igniter, said switch being
open while the missile is in the torpedo tube, spring means on said
rocket motor to close said delay switch to detonate the igniter and
light off said rocket motor at about 2-5 missile lengths from the
attacking submarine, thrust vectoring means disposed within said
rocket motor for deflecting the exhaust gases thereof and connected
to said guidance section to receive guidance signals therefrom for
controlling the missile in roll, pitch and azimuth and steer it out
of the water, thrust reversal means on said rocket motor and
electrically connected to said guidance section for initiation when
the missie is at a predetermined position, explosive bolt means
releasably connecting said rocket motor and said depth bomb and
electrically initiated by said guidance section to effect
separation of the missile and the depth bomb substantially
simultaneously with the initiation of said thrust reversal means to
thereby separate the depth bomb from the rocket motor, aerodynamic
control means for steering the depth bomb toward the target after
separation.
6. The system of claim 5 further including a cover disposed over
one end of the rocket motor, explosive bolt means electrically
connected to said guidance section and releasably securing said
cover to the rocket motor, said guidance section producing a signal
to release said explosive bolt means substantially simultaneously
with the detonation of said igniter.
7. A method of destroying an enemy submarine at distances up to the
second sonar convergence zone which comprises the steps of;
tracking the enemy submarine from a submerged attacking submarine
to determine the probable further position of the enemy submarine,
ejecting a missile having a warhead and a solid propellant rocket
from the torpedo tube of the attacking submarine, igniting the
rocket motor under water when the missile is a safe distance from
the attacking submarine, programming the missile out of the water,
propelling and guiding the missile toward the probable position of
the enemy submarine so that the missile reenters the water when the
enemy submarine reaches said position, and exploding the warhead
when the missile sinks to a predetermined depth at said
position.
8. A method of destroying a submerged enemy submarine which
comprises detecting the enemy submarine from a submerged attacking
submarine, ejecting a missile from the torpedo tube of the
attacking submarine, said missile including a depth bomb section
and a rocket motor section, igniting the rocket motor while the
missile is in the water, steering the missile out of the water,
separating the rocket motor from the remainder of the missile,
flying the remainder of the missile semiballistically to reenter
the water at a point near the enemy submarine, and detonating the
depth bomb in the water to destroy the enemy submarine.
Description
The invention described herein may be manufactured and used by or
for the Government of the United States of America for governmental
purposes without the payment of any royalties thereon or
therefor.
This application relates to a novel rocket propelled depth bomb or
torpedo and a method of attacking and sinking enemy submarines by
utilizing this weapon.
The modern submarine has been so modified and improved in the past
decade that, in many respects, it now possesses marked tactical
advantages over the most up-to-date surface craft. A submarine can
travel under water at high speed, undetectable by the radar of
aircraft and able to effectively hide from the sonar of surface
vessels by darting into banks of lower temperature water found at
various depths of the ocean. Furthermore, a sub having a nuclear
power plant may remain submerged for extended periods of time,
thereby minimizing the already slight chance of detection. Such
nuclear subs are capable of establishing a picket off the coast of
a country and, by surfacing at night, fire intermediate range
guided missiles directed at strategic targets within the country.
Since the missiles would travel relatively short distances compared
with intercontinental missiles they could be delivered with greater
accuracy and would be less vulnerable to active
counter-measures.
One scheme proposed as the defense against such submarines is to
equip surface craft or killer-type submarines with homing torpedoes
capable of tracking down and destroying an enemy submarine. This
would not be completely effective and is subject to two major
deficiencies: the homing torpedo may be detected by the target
submarine which may then take appropriate action to evade the
torpedo or destroy it; the second drawback is that the target sub
is alerted to the presence of the attacking vessel and may engage
it on substantially equal or better terms upon detecting the homing
torpedo. The long running time of the torpedo is disadvantageous
since the enemy has a long time to evade or effect
countermeasures.
Accordingly, one object of this invention is the provision of an
improved method of attacking and destroying enemy submarines with a
weapon launched from a killer submarine which method minimizes the
possibility of detection of the weapon by the target
submarines.
Another object is to provide a new and novel method of attacking a
submerged submarine which method does not allow the target sub
sufficient time to take evasive action.
Still another object is to provide an underwater-to-underwater
inertially guided missile.
A further object is the provision of a new and improved rocket
propelled depth bomb or torpedo suitable for launching from a
torpedo tube of a submerged submarine and which may be fired from a
conventional tube without substantial modification of the firing
submarine.
Still another object is the provision of a new and improved rocket
propelled depth bomb which may be prepared for firing with a
minimum of preparation time.
These and many other objects will become more readily apparent when
the following specification is read and considered together with
the appended drawings wherein like numerals designate like or
similar parts throughout the various views and in which:
FIG. 1 is a view showing the trajectory the weapon follows from the
hunter submarine to the target sub;
FIG. 2 illustrates one mode of determining the range and bearing to
the target;
FIG. 3 is a block diagram of a weapon system embodying the
principles of this invention;
FIGS. 4a and 4b illustrate in detail the missile trajectory;
FIG. 5 illustrates a typical control panel at the weapon control
station;
FIGS. 6a and 6a are views partly in section of a missile
constructed in accordance with the principles of this
invention;
FIG. 7 is a section taken along line 7--7 of FIG. 6b;
FIG. 8 is a section taken along line 8--8 of FIG. 6b;
FIG. 9 is a block diagram of the safing and arming section of the
missile;
FIG. 10 is a block diagram of the missile guidance package; and
FIG. 11 illustrates the jet vane actuating system in detail.
For the sake of simplicity, this invention will be described with
reference to but one embodiment wherein the pay load is a depth
bomb; it being understood, however, the pay load may also be a
homing torpedo which would seek out the target sub after water
reentry.
Briefly, the instant invention embodies a method which involves
detecting a submerged target, computing the course of the target to
determine a predicted collision point, and launching a depth bomb
from a killer submarine in the same manner as the conventional
torpedo is launched. The depth bomb has a rocket motor which is
automatically ignited at a safe distance from the attacking killer
submarine. The rocket is programmed so that it moves out of the
water and flies through the air during the major portion of the
trajectory and reenters the water at a point calculated to be
within lethal range of the target. Since the depth bomb completes
most of its flight in the air it is extremely difficult for the
target submarine to detect it. Furthermore, the time of flight is
relatively short so that it is improbable that the target sub could
escape even if it changed its course after the weapon was fired.
The depth bomb can be launched as soon as the predicted future
position of the target is computed by the attacking submarine
because it is fired in the same manner as a conventional torpedo so
that the attacking submarine requires only a minimum of time to
prepare the weapon for launching. Utilizing a warhead which has a
large lethal radius, target prediction may not be necessary at the
shorter ranges in order to effect a reasonable kill
probability.
Referring now with greater particularity to FIG. 1, the target
submarine 11 is shown running submerged through a body of water 12
while the killer submarine 13 is manuvering at distances up to
about 70 miles [second sonar convergence zone] from the target 11.
In order to determine the location of submarine 11, the killer sub
13 may employ, for example, a sonic detecting device. An active
sonar system, one in which the sub 13 emits an acoustic signal and
receives an echo pulse from the target, may be utilized. A suitable
active system is one having a low frequency high power sonar gear
and adapted to utilize convergence zone, surface channel, and/or
the bottom reflection method of acoustic propagation. This is
accomplished by incorporating into a conventional projector and
hydrophone array appropriate vertical and horizontal beam widths
and means for tilting the transducers. Active sonar permits the
submarine 13 to determine the bearing and range of submarine 11 but
the disadvantage in the use of active sonar is that the target 11
may become alerted to the presence of submarine 13.
Passive sonar also may be used to detect the position of a
cavitating vessel. A passive acoustic ranging system which gives
both bearing and range to the taregt may be employed wherein range
is obtained by measuring the radius of curvature of the arriving
wave front pulse. Outputs of three hydrophones equally spaced on
the line are processed in such a way that two correlograms are
displayed simultaneously on an oscilloscope to provide bearing and
range information. Such a system is described in detail in the
copending application of Charles B. Brown Ser. No. 298,487 filed
July 11, 1952 and which matured into U.S. Pat. No. 3,304,495 on
Feb. 14, 1967.
Although this system gives bearing and range data suitable for fire
control at distances up to about 20,000 yards, the radius of
curvature of the approaching acoustic wave front at ranges above
20,000 yards is too large for indicating the range with sufficient
accuracy to provide adequate target location information.
Accordingly, if the depth bomb is a longer range weapon, it is
necessary to modify existing passive sonar systems in order to
obtain bearing and range data at greater distances.
A triangulation system employing passive sonar to provide reliable
fire control data at greater ranges is shown in FIG. 2. This system
requires two submarines 13 and 14 both equipped with passive sonar
or two hydrophones bow and stern for making bearing determinations.
Submarine 14 may carry rocket propelled depth bombs as does
submarine 13; it may carry intermediate range missiles and utilize
submarine 13 as protection against enemy submarines, or its sole
fuction may be to establish the bearing and range triangle. These
various functions will of course be determined by the mission of
the subs 13 and 14. Submarine 13 measures the difference
.phi..sub.1 between the bearing to the friendly submarine 14,
.alpha..sub.1, and the bearing to target 11, .beta..sub.1.
Similarly, sub 14 measures the difference .phi..sub.2 between the
bearing .alpha..sub.2 to sub 13 and the bearing to the target sub
.beta..sub.2 ; this information is communicated to sub 13 so that a
solution of the bearing and range triangle may be computed.
Communication between subs 13 and 14 and the determination of base
line "1" can be made by transmitting from sub 13 a coded noise-like
acoustic signal which, after reception by the friendly sub 14 may
be cross correlated with an identical noise-like signal. The time
schedule is controlled by a pair of Accurate clocks [not shown] one
in each of the submarines 13 and 14 and serve to synchronize the
separate noise generators. A knowledge of the average velocity of
sound through the water establishes the length of line 1. Knowledge
of 1, .beta..sub.1 and .beta..sub.2 permits the calculation of r,
the range from the submarine 13 to target 11.
It may even be desirable to construct a detecting system across
ocean passages by planting nuclear powered sound sources at
accurately determined points on the ocean floor. Echo detection and
target location could then be performed passively by submarines
stationed in the area. This method would have the advantages of the
active system without revealing the presence of the monitoring
submarines.
It should be borne in mind that each of the above systems has
certain inherent advantages and disadvantages for that reason any
of the systems or any combination of one or more systems may be
employed to locate the target. Although the detection and location
system per se forms no part of the instant invention, a few of the
practical systems have been described in general terms. We do not
intend to limit the scope of this invention by thus enumerating a
few of the many existing systems. Rather, it should be apparent to
anyone skilled in this art that the selection of one or more
systems utilizing sonar, periscope, or radio link to air or surface
craft depends upon which of the advantages and disadvantages of the
various systems are deemed to be tactically controlling at the time
of selection.
The target detecting equipment, indicated generally at 21 in FIG.
3, furnishes the target information to the fire control system of
the submarine which includes a shipboard computer 22 and certain
shipboard controls and instruments. The bearing and range of the
target is supplied to a coordinate convertor 24 which translates
the information into signals indicative of the target's position in
a selected space coordinate system which preferably has its origin
at the water reentry point a. These signals are continuously fed
into an integrating prediction unit 25 which computes a predicted
position of the target after a time interval equal to the missile
time of flight. A predicted position signal is supplied, via a
missile input unit 29, to the missile stable platform 26,
navigational computer 27 and the guidance computer 28 in the
missile guidance section 23. The missile input unit 29 shown in
FIG. 3 is electrically connected via cable 106 to the input
connector 103 shown of FIG. 6b. Speed, pitch, and roll data of the
missile launching killer submarine 13 are fed from the pitometer
log 31 and the ship's gyro compass 32 to the prediction unit 25 via
a ship's motion unit 33 in the shipboard computer 22 thereby
providing a continuous correction to the predicted target position
which compensates for movement of submarine 13.
In order to assure that the stable platform azimuth for the missile
is level at all times, the ship's gyro compass 32 also provides a
level and cross-level signal to the gimbal order unit 34 in
shipboard computer 22 to establish a proper correction in the
stable platform 26 in missile guidance section 23, it being
understood that the guide studs or lugs 35 [see FIGS. 6a and 6b]
align the missile in the torpedo tube in a predetermined fixed
manner with respect to the sub 13. To minimize hunting, a feedback
loop 36 is also established between the coordinate converter 24 and
the gimbal order unit 34 in shipboard computer 22. Another output
from the coordinate converter 24 is fed into the shipboard weapon
control station 37 which provides signals to the missile operating
station 38 of the submarine. Missile operating station 38 also
receives signals via lines 39, 41 and 42 from the missile guidance
section 23 to indicate the state of readiness of the missile by
means of a display panel 15 [see FIG. 5] which indicates which of
the missile servo mechanisms and the gyroscopes are functioning
properly and when the missile is warmed up sufficiently for firing.
The missile operating station 38 monitors the progress in readying
the missile and repeats back to weapon control station 37 as
important stages in the missile count down are reached. The control
panel 15, FIG. 5, of the missile operating station 38 includes
several displays and switches for each of the torpedo tubes. These
displays include an indicator 16 showing whether the tube door is
open or closed; a missile power switch 17 which connects the
guidance equipment, arming circuits, distance and direction
guarantee devices of the missile [described hereinafter] to the
ship's power so that the missile circuits become operative and are
stabilized on the ship's power plant 40, FIG. 3, rather than
dissipating missile internal power before launching; indicators 18
which show the speed of rotation of the missile gyros; a display 19
to indicate whether the "missile internal power" switch 50, FIG. 3,
in weapon control station 37 is "on." There are also indicators
166, 167 and 168 which are energized when the various servos and
the input quantities of the missile are settled. The status of
these various sevos and input quantities is presented to the bridge
by monitoring the error voltages in the missile circuitry, so that
when the error is less than a specified level a relay [not shown]
is closed lighting an appropriate indicator on the panel; a missile
status switch 20 is thrown manually to "ready to fire position"
when all the indicators on the missile operating panel 15 are lit
and when the gyro wheel speed indicated by display 18 is normal.
After switch 20 is thrown, the missile may be fired by the weapon
control station 37.
The weapon control station 37 provides communication between the
bridge and the missile operating areas so that the status of the
weapon may be presented to the bridge for planning an attack. In
addition to the various displays similar to those of panel 15 for
indicating the state of readiness of the missile, this station
includes a firing key [not shown] which is closed to launch the
missile at the appropriate time provided that switch 20 in the
missile operation station 38 is also closed.
The missile shown in FIGS. 6a and 6b comprises several sections
which may be classified generally as the depth bomb 43 and the
motor section 44. Depth bomb 43 is further broken down into the
frangible nose section 45, the warhead section 46, the fuzing
section 47 and the guidance section 23. The missile is relatively
small in diameter since its greatest total diameter must be les
than the inner diameter of the torpedo tube of present day
submarines.
The cylindrical rocket motor casing 60 is closed by a bulkhead 52
near its forward end thereby dividing motor section 44 into a
foreward compartment 51 containing the propellant 54 which is
ignited at the appropriate moment during the flight of the missile
to begin thrust reversal, and the main propellant section 53 filled
with a solid propellant 55. Disposed about the opposite end of the
motor section is a cover 57 to prevent water entry into the motor
section prior to ignition of propellant 55. Cover 57 is releasably
secured to casing 60 by a ring 59 having several hinged segments
held in place by explosive bolts, one of which is shown at 61, [see
FIG. 11]. Bolts 61 are released upon receipt of an electrical
signal from guidance section 23 which signal also fires igniter 116
to ignite the main propellant 55, FIG. 6b, so that cover 57 is
blown off by the gases discharged from the thrust nozzle 62 upon
ignition of propellant 55. As seen in FIG. 11, the thrust vectoring
system is composed of a plurality of vanes 63 which are disposed in
quadrature relation within nozzle 62, downstream of the throat and
are operatively connected by appropriate linkages 64 to actuators
65 for steering the missile. The necessary fluid pressure which
operates each of the actuators 65 is generated by a pump 66 diven
by a turbine 67. A solid propellant cartridge 68 secured to casing
60, is ignited just prior to the time the missile is launched to
drive turbine 67 and operate pump 66. A four way spool valve 69 is
associated with each of the control vanes 63 to operate each vane
via linkage 64, thereby to stabilize and steer the missile after
ignition of the main propellant charge 55.
The operation of the actuator 65 is controlled by an
electromagnetic torque motor 72 which, in response to signals
generated by the guidance section 23, controls the fluid flow
through actuator 65. High pressure fluid is pumped from the sump 73
by the turbine driven pump 66 through a delivery line 74 to the
hydraulic transfer system. A d-c electromagnetic torque motor 72
controls the hydraulic system in response to signals from the
guidance section 23 of the missile by moving a balanced
nozzle-flapper 75 disposed between two nozzles 99 and 101 which
receive pressurized fluid from pump 66 via conduits 71, 74 and 95.
Bleed lines 76 and 77 connect conduit 71 to the spool valve 69 at
opposite sides of the spool 78.
Spool valve 69 consists of housing 79 secured to the rocket motor
casing 60 by suitable brackets, spool 78 having three land areas
82, 83 and 84 operating within the housing 79 and a pair of opposed
biasing springs 85 disposed at either end of the housing. Springs
85 tend to damp out oscillation of spool 78 and retain it in the
null position so that the lands 82, 83 and 84 close the ports 86,
88 and 91 respectively. While the spool 78 is in this null
position, the control vanes 63 are each disposed at zero degree
angle of attack with respect to the exhaust gases. Accordingly,
they do not tend to deflect the exhaust gases and steer the
rocket.
When the flapper 75 is moved to the left, as seen in FIG. 11, the
flow through nozzle 99 is restricted, consequently spool 78 is
moved upwardly as shown in FIG. 11 under the influence of the
increased pressure produced in bleed line 76 and the correspodingly
decreased pressure in line 77. It is understood that the largest
portion of the pressurized fluid always flows out the nozzles 99
and 101 and returns to sump 73 via line 100 to be recirculated by
pump 66. As spool 78 moves upwardly, fluid moves through conduit 95
and port 88 which was closed by the land 83 on spool 78 when the
spool was in the null position. This fluid flows downwardly within
housing 79 of the spool valve 69 and out conduit 96 thereby moving
the actuator piston 98 upwardly. Simultaneously, the fluid at the
opposite side of the piston drains into the spool valve housing via
conduit 90 and discharges to the sump 73 through the now open
outlet 91 and a return conduit 89. If the error signal to the
torque motor 72 reverses, then the nozzle 99 is opened to a greater
degree while flow through nozzle 101 is correspondingly restricted,
therefore, the ultimate movement of actuator piston 98 is
reversed.
An extension rod 102 is fixed to piston 98 and is connected to one
of the control vanes 63 by linkage 64 so that the vane is pivoted
in response to movement of piston 98. This movement of the vane
deflects the exhaust gases in the direction to stabilize the
missile in yaw, roll and pitch or to cause it to execute a
programmed turn. The signals from the missile guidance section
which control the operation of the actuator piston are sent through
wires 94 in the conduit 105 mounted on the body.
A second conduit 106, FIG. 7, within the rocket motor casing 60
provides an electrical connection between the ship's power and the
missile guidance and programming section 23 to supply warm-up power
and target information to the missile computers prior to launching
of the missile without draining the missile internal power. A
connector 87, FIGS. 6a and 6b, is plugged into the torpedo tube
door to connect cable 106 to the ship's power while the missile is
in the torpedo tube. Guide studs 35, formed on the outer wall of
the rocket motor section 44 and on fairing 123 of the depth bomb
section 43, serve to align the missile within the tube and to
orient the stable platform 26 of the missile guidance section 23
with respect to the submarine. Therefore, both guide studs and the
aligning groove [not shown] in the torpedo tube which receives
studs 35 must be located with greater precision than is usually
required with ordinary relatively short range torpedoes.
A U-shaped arming bar 109 is fitted into a notch 111 at one end of
the rocket motor section 44 and is secured at the opposite end of
the motor section by a bolt or shear member indicated at 112.
Arming bar 109 extends over the rearward end of the missile and has
one end formed into a spring loaded plunger 113 which urges it
upward tending to release it. When the missile is inserted into the
launching tube, shear member 112 is removed and the inner wall of
the tube serves to prevent the arming bar from being released. Upon
launching of the missile, the connection between the submarine's
power and the missile guidance section is broken by shearing cable
106 or pulling loose connector 87. Cable 106 may be destroyed at
firing without adversely affecting the performance of the missile
since it operates on its own internal power supply immediately
prior to launching. The instant the missile clears the tube, bar
109 is jettisoned as the plunger 113 forces it away from the
missile. A piston 92 [see FIG. 11] normally restrained by the
arming bar 109 is then free to move outwardly to actuate a delay
switch shown generally at 115. It is to be understood that the
delay may be an hydraulic [dashpot], mechanical [cross mechanism],
or electrical [R-C network] system and the particular delay
mechanism forms no part of this invention. Upon closing, delay
mechanism 115 completes the circuit between the guidance section 23
and an igniter squib 116 centrally disposed within the body of the
propellant 55 in the embodiment shown. This mode of ignition is
suitable for an internal burning grain but if an end burning
propellant were used, the igniter would necessarily be positioned
at the rearward end of the propellant. The delay mechanism allows
the missile to travel a safe distance from the submarine 13
propelled by the force of compressed air in the torpedo tube before
the rocket motor is ignited. Although the missile eventually tends
to tumble and take an unpredictable course through the water when
it is ejected from the torpedo tube 48, it has been found to be
stable to about 2-5 missile lengths from submarine 13. It has been
experimentally verified that ignition of the rocket motor does not
damage the submarine if the missile is more than 21/2 missile
lengths from the submarine.
An auxiliary power unit generates electrical power for the guidance
section and hydraulic power for actuation of fin 117 on the depth
bomb. This auxiliary power unit includes a cartridge 118 of slow
burning propellant which is ignited via cable 106 and connector 103
by the submarine immediately prior to launch. The gases produced
drive a turbine 119 which is connected through suitable gearing to
pump 121 and to an alternator 122. The alternator may supply a-c to
the guidance section 23, preferably, however, the a-c produced by
alternator 122 is fed to a rectifier 93 to provide a d-c output to
the quidance section via wires 108. Pump 121 provides the required
hydraulic pressure to a plurality of actuators 124 for operating
the fins 117 at the proper time. Actuators 124 and their associated
equipment are similar to the apparatus which controls the jet vanes
in the thrust nozzle 62 and for that reason will not be described
in detail. Prior to the separation of the rocket motor and the
depth bomb, actuators 124 and their corresponding fins are locked
in the null position by detents 107 so that they do not influence
the missile trajectory prematurely.
The closing of a gate circuit 146, FIG. 10, supplies an ignition
pulse to a plurality of explosive bolts 125 which secure a hinged
clamping ring 126, FIG. 6, in place locking the rocket motor 44 to
the depth bomb section 43. Upon ignition of the bolts 125, the
rocket motor is released from the depth bomb. Simultaneously with
the initiation of bolts 125, a gating pulse from the guidance
section 23 is sent along one of the wires in cable 104 to initiate
a squib 127 located in the forward section of the rocket motor to
ignite the propellant 54 thereby to generate reverse thrust on the
rocket motor as the exhaust gases are expelled from the forwardly
directed nozzles 97 spaced circumferentially at the forward end of
rocket motor 44. Upon separation of the rocket motor and the depth
bomb, a segmented fairing 123 is blown off exposing control fins
117 and the fixed stabilizing fins 114 on the body of the depth
bomb section 43, so that the fins become effective to exert
aerodynamic forces upon the depth bomb to stabilize and steer it
when actuators 124 are rendered operative.
The safing and arming section of the missile includes a manual
safety switch 131 which is externally armed immediately prior to
launching of the missile. After launching, an inertial odometer 129
computes the distance travelled by sensing missile acceleration and
integrating with respect to time. The odometer may consist of an
accelerometer and means for integrating the output of the
accelerometer twice to indicate distance travelled. After the
missile has travelled a predetermined distance, a switch 128 is
closed to complete one phase of the arming cycle. A second switch
133 is connected in series with the switch 128 and is operated by
an anti-circular gyro 135 which is oriented parallel to the control
portion of the predicted flight path. Gyro 135 is a conventional
two-degree-of-freedom type with pick offs in the pitch and yaw
axes. This gyro opens the normally closed switch 133 disarming the
fusing system in the event that the missile deviates excessively
from the intended flight path which might indicate that the missile
is returning the sub 13.
A mechanical inertial switch 137 initiates the final arming of the
weapon as it is suddenly decelerated upon water reentry. In order
to distinguish the water reentry shock pattern from others to which
the missile might be subjected in handling, switch 137 may include
integrating devices which require a sustained acceleration of high
magnitude over a miniumum period of time for operation. Reentry
switch 137 initiates a mechanical timer switch 134 which closes
after a preselected delay to connect alternator 122 and an
initiator 136 which is used to detonate the conventional or nuclear
warhead 46. The delay in switch 134 corresponds to the length of
time required for the depth bomb to reach a selected depth based
upon the depth bomb sinking rate.
In order to more fully understand the missile guidance section
reference should now be had to FIGS. 4a and 4b. The coordinate
system utilized in the missile guidance unit 23 may be thought to
originate at point a, the predicted point of water reentry. The
firing bearing of the missile's stable platform must therefore be
aligned so that the horizontal trace 143 of the missile's path
projected onto the water surface goes through the point a. The
missile guidance computer 28 operates in a cartesian coordinate
system X, Y, Z having its origin at a and having its orientation
fixed in space, at the instant of firing of the missile. Therefore,
the shipboard computer 22 continuously transmits the following
input signals to the missile prior to launching:
1. X.sub.o Y.sub.o Z.sub.o, initial integrator settings in the
navigational computer 27 of the missile; these are essentially
range and bearing data from the firing point to point a.
2. X.sub.o Y.sub.o Z.sub.o, initial velocity integrator settings in
the missile; these values are essentially due to the motion of
submarine 13 resolved into X, Y, Z coordinates.
3. Firing bearing to which the stable platform 26 in the missile is
aligned to hit point a.
4. Gimbal orders for the stable platform 26 so that it is level at
all times.
5. X.sub.4, missile velocity at point 4 on the predicted trajectory
terminating a point a. At point 4 on the trajectory, thrust should
be terminated and rocket motor separated from the depth bomb 43 so
that the bomb will fly semiballistically to point 5. At point 4,
the depth bomb guidance control is actuated and stabilizes the
depth bomb in roll and provides cross wind correction.
6. X.sub.5, missile position at point 5 on the predicted trajectory
terminating at point a. At point 5 the pitch controls are initiated
to correct errors and to steer the missile glide path toward point
a.
7. X.sub.6, missile position at point 6 on the predicted trajectory
terminating at point a. At this point the missile fins are set to
zero lift and locked and the missile dives ballistically to point
a.
As indicated in FIG. 10, signals proportional to the X, Y, Z
acceleration, X, Y, Z, respectively, are produced at the stable
platform 26 by accelerometers 171, 172 and 173 and fed into the
missile guidance computer 28. A simple pendulum, spring suspended
mass, or vibrating reed type accelerometer may be used or a more
complicated acceleration sensing gyro may be employed to provide to
the X, Y, Z signals. Each of these signals is integrated in the
appropriate integrating circuits 138, 139 and 141 to provide an
output signal X, Y, Z, proportional to the instantaneous velocity
of the missile in the space coordinate system X, Y, Z. A signal
proportional to X is introduced into the gating circuit 146. When
the missile velocity reaches a predetermined value calculated by
the ship's computer 22 and stored in the missile programmer 140,
thrust is cut off at point 4 on the missile's trajectory by a pulse
from the gating circuit 146; and the rocket is separated from the
depth bomb in the aforedescribed manner. This gating pulse closes a
relay 142 which initiates the squib 127 to ignite the thrust
reversal propellant 54 [FIG. 6] to produce a reverse thrust through
nozzles 97. Nozzles 97 are covered by plugs 144 to resist high
external pressures but may be blown off by a slight excess of
internal pressure over external pressure.
Simultaneously, with initiation of squib 127, the explosive bolts
125 are ignited and the clamping ring 126 is blown apart thereby
allowing separation of the rocket motor and the depth bomb. The
servo actuators 124 associated with the fins 117 stabilizes the
missile in roll in response to error signals from the roll rate
gyro 145 and the roll angle signal generated from the stable
platform 26. The azimuth deflection is corrected to zero also. The
depth bomb travels to the zenith of its trajectory; it then begins
to lose altitude and fall toward the water impact point a. At point
5 [a distance X.sub.5 from point a along the X axis of the
coordinate system], a signal from the gating circuit 147 closes
relays 148 and 149 to operate the actuators 124 so that the fins
117 may be adjusted to correct errors in pitch as well as errors in
yaw and roll. Integration of the signals X, Y, Z by the integrating
circuits 151, 152 and 153, respectively produces signals X, Y, Z
indicative of the missile's position in space. The signals X, X, Y,
Y, Z and Z are fed into the multiplying circuits 159, 161, 162 and
163 respectively to produce signals proportional to the products
XY, XY, XZ and XZ. The product XY subtracted from the product XY in
the difference circuit indicated at 154 to produce an error signal
XY - XY which is indicative of the instantaneous error in the XY
plane of the missile coordinate system. That is to say, when:
XY - XY = 0, [1]
the missile is on a straight line glide path which passes through
the preselected water impact point a. The theoretical verification
of equation is explained in greater detail in the copending
application of William B. Coffman, Ser. No. 762,187, filed Sep. 19,
1958 which matured into U.S. Pat. No. 3,249,324 on May 3, 1966.
however, equation [1] may be verified intuitively by referring to
FIG. 4b which shows the trajectory of the missile. At the instant
the terminal guidance has been actuated, at some point 5 after the
zenith of its trajectory, and the missile has begun to glide
downwardly toward point a, it is positioned at some point [X, Y] in
the X, Y plane and has instantaneous velocity components X and Y.
Now, when the ratio X X is equal to the ratio Y, the missile will
travel the distance Y remaining to point a in the same time it
travels the distance X remaining to point a. Accordingly, it will
hit the water at point a. Since X, Y and X, Y are instantaneous
values available in the missile, the guidance system will
constantly correct for errors in the predicted straight line glide
path to point a due to gravitational acceleration and/or wind
effects.
Setting: X/X = Y/Y and cross multiplying, XY = YX or XY - YX = 0
and this is equation of a straight line passing through point a
from the missile position X, Y. Similarly, a signal [XZ - XZ] is
produced by the difference circuitry 155; this signal is utilized
to correct errors in the X, Z plane, in the same manner that the
signal [XY - YX] is used to correct range errors.
The depth bomb thus stabilized and guided flies toward its target
until it reaches point 6 in its trajectory at which time the gating
circuit 156 in response to the output of the integrator circuit 151
opens switches 157 and 158 thereby returning fins 117 to a zero
lift position in which they are locked by detents 107 [see FIG. 6a]
and the missile dives ballistically toward point a. Since
electronic integrators and multipliers are well known to those
skilled in the art, for the sake of brevity, they are not described
in detail.
OPERATION
Referring now to FIGS. 3, 4b, 6a and 6b, to more fully understand
the entire sequence of operation of the missile; bearing, range and
speed information are fed into the ship's computer 22 which
predicts the future position of the target sub 11 and supplies that
information to the missile guidance section 23. During this
interval, the missile computer is run by ship's power. When
sufficient tracking information is obtained the internal missile
power is turned on and the missile is then launched from the
torpedo tube in the same manner as the conventional torpedo. The
arming bar 109 flies off as soon as the missile leaves the tube.
After a short time interval, the delay switch 115 closes, firing
igniter 116 to initiate the missile propellant 55 at some
underwater point on the missile's trajectory a safe distance from
the launching submarine 13. The flight path between the instant of
firing and point 2 on the missile trajectory is underwater. During
this phase, the missile is stabilized and programmed by vanes 63 so
that it emerges from the water at about a 50.degree. angle and, on
water emergence, it is flying a trajectory lying in the X, Y plane
which trajectory contains point a. Vanes 63 are hydraulically
powered by actuators 65 which are operated by signals from the
guidance section 23 in the aforedescribed manner.
The path between points 2 and 4 is the boost phase in the air
during which the missile is attitude-stabilized at approximately
50.degree.. When the missile has reached a minimum safe range
[point 3] odometer 129 arms the fuzing system. At point 4, the
guidance section 23 develops a signal which cuts off the rocket
motor by igniting the reversal propellant 54 and simultaneously
releasing the band 126 to free the rocket motor from the depth
bomb. At this point, the programmer 140 activates the roll and
azimuth control system of the depth bomb and signals are generated
by the computer which compares the instantaneous velocity X or some
combination of X, Y from the navigational computer 27 with a
precalculated velocity along the X coordinate or in the X, Y plane,
respectively to achieve the desired range as above described. This
comparison is done in the gating circuit 146 which operates a relay
142 when X or the X, Y combination exceeds the calculated
value.
Beyond point 4, the depth bomb continues to ascend flying
semiballistically with no pitch correction so that it flies at
nearly zero angle of attack in pitch but has roll stabilization and
cross wind correction. At some point 5 shortly after the depth bomb
has reached the zenith of its trajectory, the guidance computer
activates the pitch controls to guide the bomb toward point a on
the water's surface. To prevent the depth bomb from reentering the
water at a large angle of attack which would set up transverse
forces of undesirably high magnitudes or cause the bomb to
richochet, broach, or exhibit excessive underwater dispersion, all
control fins are set to zero at point 6 and are locked in position
by detents 107. Upon water reentry, the switch 133 is closed and
the missile sinks to the desired depth at which the warhead is
detonated.
Although we have described our invention with reference to but a
single embodiment it is by no means so limited but is susceptible
of many alterations and modifications without departing from the
spirt thereof. Accordingly, this invention is not to be construed
as limited in any way by the specific embodiment described. Rather
the scope of the invention is defined only by the scope of the
appended claims.
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