JPH05297138A - Method and device for sensing position of underwater running body - Google Patents

Abstract

(57) [Abstract] [Purpose] In the position detecting device and its position detecting method for underwater vehicles, the signal propagation time is shortened to obtain a high-speed data rate, and it is not affected by the flow near the sea surface. Highly accurate position measurement can be performed, and highly accurate depth direction information can be obtained. [Structure] In a position detecting device and a position detecting method for an underwater vehicle, an acoustic pinger that transmits a pinga signal modulated by depth information synchronously or asynchronously is attached to the vehicle, and a plurality of transponders are installed on the seabed. , Place multiple float buoys on the surface of the sea, and set the three-dimensional position of the underwater vehicle to L
Acoustic measurement is performed by the BL method.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for acoustically measuring in real time the three-dimensional position of a watercraft moving in water at high speed, and a position detecting method therefor.

[0002]

2. Description of the Related Art Conventionally, there is an LBL system as a system for acoustically measuring the position of a vehicle underwater. In the LBL method, a signal is transmitted from a synchronous or asynchronous acoustic pinga that is usually attached to a running body, and the signal is received by a plurality of acoustic sensors installed in the measurement area, and the distance between the acoustic pinga and the acoustic sensor is measured. It measures and obtains the position of the vehicle. The acoustic pinger includes a synchronous pinger and an asynchronous pinger. In the case of the synchronous pinger, the number of acoustic sensors that receive the signal from the acoustic pinger must be at least 3 or more, and the position of the vehicle is obtained by the spherical method from the measured distance between the acoustic pinger and the acoustic sensor. There is. On the other hand, in the case of the asynchronous pinger, the number of acoustic sensors is required to be at least four or more, and the position of the vehicle is obtained by the hyperboloid method from the measured distance between the acoustic pinger and the acoustic sensor.

As a method of installing an acoustic sensor for receiving a signal from an acoustic pinga, (a) a method of providing an acoustic sensor on a transponder installed on the seabed, and (b) a floating buoy floating on the sea surface suspends the acoustic sensor in the sea. The method of lowering is adopted. The underwater vehicle position detecting device and the position detecting method thereof by the above-described conventional two acoustic sensor installation methods will be described below.

First, a conventional underwater vehicle position detecting device and its position detecting method by a method of providing an acoustic sensor on a transponder installed on the seabed will be described. This acoustic sensor can be installed by, for example, "Development of submersible research ship" Shinkai 6500 "submarine support acoustic system" Oki R & D No. 146 Vol. 57 No. 2 (April 1990) pp. 87-94. Known in the literature. FIG. 2 is a schematic view of a conventional underwater vehicle position detection apparatus and method by a method of providing an acoustic sensor on a transponder installed on a seabed. In this case, the position of the vehicle 1 is measured using the transponder 3 installed on the seabed as a reference using a synchronous pinger. The transponders 3 are distributed and arranged on the same floor on the seabed. Therefore, the transceivers 41 to 4
Acoustic pingers 11 for baseline lengths of 3
If the depth difference between the transponders 31 to 33 is small, the accuracy of the position measurement of the acoustic pinger 11 in the depth direction becomes low. For this reason, conventionally, the depth sensor 12 is mounted on the navigation body 1, the depth of the acoustic pinga 11 is measured by this, the depth information of the acoustic pinga is transmitted to the measurement ship 2 side, and the altitude is obtained from this information. The three-dimensional position of the acoustic pinger 11 with respect to the transponder 3 is obtained.

Position measurement is performed by the following procedure. (1) Engage three or more transponders 31-33 on the seabed
Stay and calibrate the position of transponders 31-33
Depending on the option. In the figure, transponder 3
The figure shows the case where three units are installed.
Position of transponders 31-33 required by
Position is the position with respect to the reference coordinate system set in the measurement area.
It In addition, the wave receiver 20 installed on the bottom of the measurement ship 1
Distance between the transceivers 41 to 43 of the transponders 31 to 33
Distances L1 to L3 are measured at appropriate time intervals by another means.
Has been done. (2) Install the acoustic pinger 11 with the synchronous pinger on the navigation body 1.
Installed and responding to the depth information from the depth sensor 12 of the vehicle 1.
Then, the Pinger signal is modulated and transmitted. 3) Depth from the acoustic pinger 11 by the synchronous pinger of the navigation body 1.
The transponders 31 to 31 to the pinga signal modulated by the degree information.
33 is transmitted at regular intervals. Sent Pinga
No. is route I in the figure₁, I₂, I₃Transceivers 41 through 4
3 received. The transponders 31-33 are
A unique circumference for each transponder with respect to the measuring vessel 2.
Response signal path L by wave number₁, L₂, L₃Send by
It (4) On the measurement ship 2, the transmission time of the acoustic pinger 11 and each
At the time of reception of the response signal from the responders 31 to 33
Depending on the interspace, from₁+ L₁，
I₂+ L₂And I₃+ L₃The acoustic pie of the vehicle 1 represented by
NGGA 11-acoustic sensor 4 of each transponder 31-33
1 to 43-Propagation of sound waves on the bottom receiver 21 path of the measurement ship 2
Time is measured. This propagation time is
I₁+ L₁, I₂+ L₂And I₃+ L₃The route represented by
Is. To multiply the propagation time of the sound wave by the underwater sound velocity value
Therefore route I₁+ L₁, I₂+ L₂And I₃+ L₃Distance
Ask for separation. (5) Acoustic Pinger 11 of Transit 1-Transponder 31
To 33 of transducers 41 to 43-bottom receiver 2 of measurement vessel 2
Path length I of 1₁+ L₁, I₂+ L₂And I₃+ L ₃From
Bottom receiver 21 and transponders 31 to 33 of the measuring vessel 2
Path length L between the transceivers 41 to 43 of₁, L₂And L₃
To subtract the acoustic pinga 11 of the vehicle 1.
Between the transponders 41-43 of each transponder 31-33
Distance I₁, I₂And I₃Ask for. (6) Each transponder from the acoustic pinga 11 of the navigation body 1.
From the distance between the transducers 41 to 43 of 31 to 33, I₁，
I₂And I₃By using the spherical method transponder 3
Two-dimensional position of the acoustic pinger 11 of the navigation body 1 with respect to 1 to 33
Ask for a place. On the other hand, the altitude of the acoustic pinga 11 of the vehicle 1
The depth information in the response signal value is demodulated and obtained. (7) Transponders 31 to 31 for the reference coordinate system
The vehicle at 33 position and the transponders 31 to 33
Position of the acoustic pinga 11 of No. 1 and acoustic pinga 11 of the navigation body 1
Based on the depth information of the sound,
Find the position with respect to the coordinate system.

Next, a conventional underwater vehicle position detecting device and its position detecting method by a method of suspending an acoustic sensor in the sea from a float buoy floating on the sea surface will be described. FIG. 3 is a schematic view of a conventional underwater vehicle position detection device and method by a method in which an acoustic sensor is suspended in the sea from a float buoy floating on the surface of the sea, and is an example of the configuration inferred from the sonobuoy technology. In this configuration example, an acoustic sensor 6 is suspended in the sea from three or more float buoys 5 instead of the three or more transponders 3 moored on the conventional seabed.
The position of the vehicle 1 is measured with the float buoy 5 as a reference. As in the case of the transponder described above, the float buoys 5 are distributed and arranged on the substantially same plane near the sea surface. When the depth of the acoustic pinger 11 is shallow, the accuracy of measuring the altitude of the three-dimensional position of the acoustic pinger 11 becomes low. For this reason, the depth sensor 12 is attached to the vehicle 1 and the vehicle 1 measured by the depth sensor 12 is attached.
The depth information of the acoustic pinga 11 is transmitted to the measurement vessel 2 side, and the three-dimensional position of the acoustic pinga 11 of the navigation body 1 based on the float buoys 51 to 53 is obtained from the depth information.

In this structure, a synchronous pinger is used as the acoustic pinger 11, and the position of the running body is measured by the LBL method. The procedure for position measurement is as follows. (1) Three or more (three in the example of FIG. 1) float buoy 5
Then, a single omnidirectional acoustic sensor 6 is suspended in the sea, and the position of the float buoy in the reference coordinate system set in the measurement area is determined by a radar or the like at appropriate time intervals. (2) An acoustic pinger 11 by a synchronous pinger is attached to the running body 1, and a pinger signal is modulated by the depth information from the depth sensor 12 of the running body 1 and transmitted. (3) The pinga signal modulated by the depth information from the acoustic pinga 11 of the navigation vehicle 1 is transmitted to the acoustic sensors 61 to 63 of the float buoys 51 to 53 through the routes M ₁ , M ₂ and M ₃ .
Each float buoy 51-53 transmits the received signal to the measuring vessel 2 via the wireless data links 71-73. (4) In the measuring ship 2, the propagation time of the sound wave between the acoustic sensors 61 to 63 of the float buoys 51 to 53 is measured from the acoustic pinga 11 of the navigation vehicle 1 from the received signals from the float buoys 51 to 53, The distances of the paths M ₁ , M ₂ and M ₃ are obtained by multiplying the propagation time of the sound wave by the underwater sound velocity value. (5) Each float buoy 5 from the acoustic pinga 11 of the vehicle 1
From the distances of the paths M ₁ , M ₂ and M ₃ between the acoustic sensors 61 to 63 of _{1 to} 53, ₂ of the acoustic pinger 11 by the spherical method.
Find the dimensional position. On the other hand, the altitude of the acoustic pinger 11 of the navigation vehicle 1 is obtained by demodulating the depth information in the response signal value.

[0008]

However, the conventional method has the following problems. In the conventional method of installing an acoustic sensor on the transponder installed on the seabed and receiving by the bottom receiver of the measurement ship,
Since the synchronous pinger signal of the vehicle is transmitted through the route of the vehicle-the transponders-the measuring vessel, the propagation time becomes long and a high data rate cannot be obtained. In the method in which the acoustic sensor is suspended in the sea from the float buoy floating on the sea surface, the data rate becomes high because it is a route between the floating body and each float buoy, but it is necessary to measure the position of the float buoy. The measurement of the position of the float buoy cannot be expected to be highly accurate by a method using radio waves such as radar. Further, since the acoustic sensor is suspended in the sea, the exact position of the acoustic sensor is unknown due to the flow near the sea surface, which causes a large acoustic measurement error. Since the LBL acoustic sensors are arranged on almost the same plane and the accuracy in the depth direction is poor, in order to measure the three-dimensional position of the running body, a depth sensor is attached to the running body and the pinga signal is modulated. Therefore, it is necessary to transmit the depth information to the measurement ship.

The present invention eliminates the above-mentioned problems, shortens the signal propagation time, obtains a high data rate, and enables highly accurate position measurement without being affected by the flow near the sea surface. Another object of the present invention is to provide a position detection device for an underwater vehicle and a position detection method therefor that can obtain highly accurate information in the depth direction.

[0010]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention relates to an underwater vehicle position detecting apparatus, in which an acoustic pinger for transmitting a pinga signal modulated with depth information to a running body in a synchronous or asynchronous manner. , Install multiple transponders on the seabed, place multiple float buoys on the sea surface,
This is a device for acoustically measuring the three-dimensional position of a moving body moving in water by the LBL method. The position of the transponder in the coordinate system set in the measurement area, the bottom wave transmitter of the measurement ship, and the transducer of each transponder. The distance between them is measured by another measuring means.

In this device, a synchronous or asynchronous pinger signal modulated by depth information from the acoustic pinger of the vehicle is transmitted, and the signal is 3 or more in the synchronous system at sea or 4 or more in the asynchronous system. Received by the acoustic sensor suspended from multiple float buoys, the distance between the acoustic pinga and each acoustic sensor was obtained from the reception time, and then the three-dimensional position of each acoustic sensor in the reference coordinate system was installed on the seabed. The transponder is used to obtain the LBL method. From these results, the two-dimensional position of the acoustic pinga in the coordinate system based on the acoustic sensor is obtained by the spherical method in the synchronous method and by the hyperboloid method in the asynchronous method. The three-dimensional position of the acoustic pinga in the coordinate system based on the acoustic sensor is obtained from the result and the depth information of the navigation vehicle obtained by demodulating the acoustic pinger, and coordinate transformation is performed. And requests the three-dimensional position of the acoustic pinger in the reference coordinate system Te.

In order to achieve the above-mentioned object, the present invention further comprises, in a position detecting device for an underwater vehicle, an acoustic pinger for transmitting a pinga signal modulated by depth information to the cruising object synchronously or asynchronously, At least three transponders are installed on the seabed, and three or more float buoys are placed on the surface of the sea in the synchronous system and four or more in the asynchronous system. Position is LBL
It is a device that acoustically measures the position in the depth direction by the SBL method as well as the acoustic measurement by the method, and the position of the transponder in the coordinate system set in the measurement area and the bottom transmitter of the measurement ship and the transducer of each transponder. The distance between is measured by another measuring means,
From each float buoy, an acoustic sensor is suspended in the sea,
The acoustic sensor suspended from one or more float buoys among the plurality of float buoys is an SBL acoustic sensor including an acoustic sensor array having a structure in which two or more acoustic sensors are attached at positions separated in the depth direction. ..

In this device, the three-dimensional position of each acoustic sensor in the reference coordinate system is obtained by the LBL method by a transponder installed on the seabed, and the signals from the transponder are received by each of the two acoustic sensors constituting the SBL acoustic sensor. , The direction of incidence of the signal to the SBL acoustic sensor is obtained by the SBL method, the inclination of the SBL acoustic sensor in the reference coordinate system is obtained from this result, and then the synchronous or asynchronous pinga signal is transmitted from the acoustic pinga of the vehicle. This signal is received by the acoustic sensor, the distance between the acoustic pinger and each acoustic sensor is obtained from the reception time, and the two-dimensional position of the acoustic pinger in the coordinate system based on the acoustic sensor is obtained from these results by the LBL method. , SBL acoustic sensor transmits a pinger signal, and the incident direction of the acoustic pinga based on the SBL acoustic sensor Determined by SBL method, and requests the three-dimensional position of the acoustic pinger in the reference coordinate system by the coordinate transformation.

In order to achieve the above object, the present invention provides a position detecting device for an underwater vehicle, which is equipped with an acoustic pinger for transmitting a pinger signal modulated with depth information to the vehicle in a synchronous or asynchronous manner. At least three transponders are installed in the sea, and at least three float buoys are placed on the sea surface in the synchronous method and at least four in the asynchronous method, and the two-dimensional horizontal position of the underwater vehicle is set to L.
This is a device that performs acoustic measurement by the BL method and acoustic measurement of the position in the depth direction by the three-dimensional SSBL method. The position of the transponder in the coordinate system set in the measurement area and the bottom wave transmitter of the measurement ship and transmission / reception of each transponder The distance to the vessel is measured by another measuring means. An acoustic sensor is hung in the sea from each float buoy, and is suspended from one or more float buoys among a plurality of float buoys. The acoustic sensor to be used is an acoustic sensor array having a structure in which two or more acoustic sensors are attached at positions separated in the depth direction, and one acoustic sensor is an LB.
L positioning is performed, and the other acoustic sensor is a three-dimensional S
It is a three-dimensional SSBL acoustic sensor that performs SBL positioning.

In this device, the three-dimensional position of each acoustic sensor in the reference coordinate system is obtained by the LBL method by a transponder installed on the seabed, and the three-dimensional SSBL acoustic sensor receives the signal from the transponder and receives the three-dimensional SSB.
The incident direction of the signal to the L acoustic sensor is obtained by the SSBL method, and from this result, the three-dimensional SSBL in the reference coordinate system
Obtain the direction and inclination of the acoustic sensor, then send a synchronous or asynchronous pinger signal from the acoustic pinga of the navigation vehicle, receive this signal with the acoustic sensor, and determine the distance between the acoustic pinga and each acoustic sensor from the reception time. Obtained from these results, the two-dimensional position of the acoustic pinga in the coordinate system with the acoustic sensor as the reference is obtained by the LBL method, and the pinger signal is transmitted by the three-dimensional SSBL acoustic sensor and the three-dimensional SSBL acoustic sensor is used as the reference. The three-dimensional position of the acoustic pinger in the reference coordinate system is obtained by coordinate conversion by obtaining the incident direction of the acoustic pinger by the SSBL method.

[0016]

According to the present invention, in the position detecting device and the position detecting method for an underwater vehicle, a pinga signal is received by an acoustic sensor suspended from a float buoy, and the signal is sent to a measuring ship via a wireless data link. Since the transmission is performed, the submarine propagation distance of the pinga signal is shortened, the data rate can be increased, and the position of the LBL acoustic sensor is calibrated by the transponder moored on the sea floor. Acoustic positioning can be performed with high accuracy.

In addition, at least one float buoy has SB
Since the depth of the running body is detected by the L acoustic sensor, it is possible to detect the three-dimensional position without sending depth information from the running body. Furthermore, since the depth of the running body is detected by at least one float buoy by the three-dimensional SSBL acoustic sensor, it is possible to detect the three-dimensional position without sending depth information from the running body.

[0018]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention will be described in detail below with reference to the drawings. FIG. 1 is a diagram showing a first embodiment of the present invention when a synchronous pinger is used as the acoustic pinger 11 of the navigation body 1. The position detecting device for an underwater vehicle according to the first embodiment of the present invention includes a vehicle 1, transponders 31 to 33 moored to the seabed, and float buoys 51 to 53 floating on the sea. It is composed of a measuring vessel 2.

In the position detecting device for an underwater vehicle of the present invention, three or more transponders are moored to the seabed. In the illustrated first embodiment, three transponders 31 to 33 are used.
Is moored to the seabed, and the three-dimensional position in the reference coordinate system set in the measurement area is measured by calibration. Furthermore, the distances L _{1 to} L ₃ between the bottom wave transmitter 21 of the measuring ship 2 and the wave transmitters / receivers 41 to 43 of each transponder are measured at appropriate time intervals by another acoustic measuring means. Further, the plurality of float buoys 51 to 53 float above the sea in the measurement area at appropriate intervals, and acoustic sensors 61 to 63 composed of one wave receiver are suspended in the sea. , And has a function of transmitting the reception signals of the acoustic sensors 61 to 63 from the antenna in the air to the measurement ship 2 through the wireless data links 71 to 73. Three float buoys 51 to 53 are used when the acoustic pinger 11 of the navigation vehicle 1 is a synchronous pinger, and four or more are used when the acoustic pinger 11 is an asynchronous pinger. In this embodiment, the transponders 31 to 33 and the float buoys 51 to 5 are compared with the baseline lengths of the transponders 31 to 33.
3 has a sufficiently large depth difference between the acoustic sensors 61 to 63, and
It is assumed that the three-dimensional positions of the acoustic sensors 61 to 63 can be measured by the L method using the transponders 31 to 33.

The operation of the first embodiment of the present invention will be described below. First, an interrogate transmitter 22 attached to the bottom of the measuring ship 2 transmits an interrogate signal at a frequency f ₁ . This signal is received by the transceivers 41 to 43 of the transponders 31 to 33 installed on the seabed. When the transponder 31 receives the interrogate signal from the measuring vessel 2 via the route L ₁ , it immediately transmits the response signal at the frequency f ₂ . The response signal is received by the acoustic sensor 61 suspended from the float buoy 51 via the route J ₁₁ . Similarly, the response signal is received by the acoustic sensor 62 of the float buoy 52 via the path J _12, and is received by the acoustic sensor 63 of the float buoy 53 via the path J ₁₃ .

Transponder 32 and transponder 3
Similarly, for 3 from the interrogator transmitter 22
Frequency f₁Receive the interrogation signals of
Immediately the frequency f peculiar to each transponder₃And frequency f
_FourTo send a response signal. Same as for transponder 1
Similarly, the response signal is float buoy 51, float buoy 52
And each is received by the float buoy 53. Because
The response signal received by the float buoy 51 is route J₁₁
Frequency f transmitted via₂Signal and route J _{twenty one}Through
Frequency f transmitted₃Signal and route J₃₁Sent via
Frequency f_FourSignal. Also, float buoy 52
The response signal received by the₁₂Frequency transmitted through
Number f₂Signal and route J_{twenty two}Frequency f transmitted via₃
Signal and route J₃₂Frequency f transmitted via_FourSignal of
Is.

A synchronous pinger or an asynchronous pinger is attached to the navigation body 1, and the acoustic sensors 61 to 63 of the float buoys 51 to 53 are passed through the paths M ₁ , M ₂ and M ₃ at a frequency f ₅ . Send a pinga signal. In each of the float buoys 51 to 53, the acoustic sensors 61 to 63 receive the pinger signal from the running body 1 and the response signals from the transponder 31, the transponder 32, and the transponder 33, and immediately the antennas in the air in the float buoys 51 to 53. To the measurement ship 2 via the wireless data links 71 to 73.

Is the measuring ship 2 one of the float buoys 51 to 53?
The received signals of the acoustic sensors 61 to 63 transmitted from
The following processing is performed. First, the interrogation from the measurement ship 2
Flow of the response signal from each transponder
Of the acoustic sensors 61-63 of the buoys 51-53
Measure the time of delivery. By this measurement time,
Input gate transmitter 22-transponders 31 to 33
Transducer-Acoustic sensor 6 of each float buoy 51-53
1 to 63 routes, that is, the route (L₁-J₁₁), (L₁
-J₁₂), (L₁-J₁₃), Route (L₂-J_{twenty one}), (L
₂-J_{twenty two}), (L₂-J_{twenty three}) And the route (L₃-J₃₁),
(L₃-J₃₂), (L₃-J₃₃) Along each line
Calculate the carrying time and calculate the distance of each route from this propagation time
It Here, the interrogator transmitter 22 of each measuring ship 2
Transponders 31 to 33 Transceiver path L₁, Route L
₂And route L₃Distance is known by another acoustic measurement means
Is. Therefore, the interrogation of the above-mentioned measurement ship 2
Transmitter 22-Transceiver of each transponder 31-33-
The acoustic sensors 61-63 of each float buoy 51-53
Road, that is, route (L₁-J₁₁), (L₁-J₁₂),
(L₁-J₁₃), Route (L₂-J_{twenty one}), (L₂−
J_{twenty two}), (L₂-J_{twenty three}) And the route (L₃-J₃₁), (L
₃-J₃₂), (L₃-J₃₃) Distance from the known route
L₁, Route L₂And route L₃By subtracting the distance
, Transponders of each transponder 31-33-each flow
Path J of acoustic sensors 61-63 of Tobu 51-53₁₁，
J₁₂, J₁₃, Route J_{twenty one}, J_{twenty two}, J_{twenty three}And route J₃₁，
J ₃₂, J₃₃The distance can be calculated.

Since the coordinate positions of the transponders 31 to 33 are known by the calibration, these results and the above-mentioned routes J ₁₁ , J ₁₂ , J ₁₃ , routes J ₂₁ , J ₂₂ ,
The three-dimensional positions of the acoustic sensors 61 to 63 of the float buoys 51 to 53 in the reference coordinate system can be calculated from the distances of J ₂₃ and the paths J ₃₁ , J ₃₂ , and J ₃₃ by the spherical method. Also,
Each acoustic sensor receives the response signal of the transponder to the interrogate signal transmitted from the measurement ship by incorporating the depth sensor in each of the acoustic sensors 61 to 63, and calculates the distance between the transponder and each acoustic sensor from the reception time of this response signal. It is also possible to obtain a two-dimensional position from the distance by the spherical method, obtain information on the position in the depth direction of the built-in depth sensor, and obtain the three-dimensional position of the acoustic sensor in the coordinate system with the transponder as a reference.

From this result, a coordinate system based on the acoustic sensors 61 to 63 is set. Next, the acoustic sensors 61 to 6
Acoustic Pinger 1 of Navigation Vehicle 1 in the coordinate system based on 3
Find the position of 1. Generally, the depth range of the vehicle is from the water surface to near the seabed.
1 and the acoustic sensors 61 to 63 may have a depth difference smaller than the baseline length of the acoustic sensor. In this case, the LBL method using the acoustic sensors 61 to 63 reduces the measurement accuracy in the depth direction in the position measurement of the acoustic pinger 11 of the navigation body 1. For this reason, the acoustic pinger 1 is used by the LBL method.
The method of obtaining the two-dimensional position of 1 and transmitting the depth information separately measured for the position of the acoustic pinger 11 in the depth direction by the depth sensor 12 attached to the navigation body 1 is appropriate.

Therefore, in this embodiment, the pinger signal is used.
Is modulated with the depth information of the vehicle 1 and transmitted. Acoustic pinga
If 11 is a synchronization pinger, first the reception time of the synchronization pinger
To the spacecraft 1-the path between each LBL acoustic sensor 61-63
Road, that is, path M₁, Route M ₂And M₃Sound wave propagation
The time is calculated and the distance of each route is calculated. Use this result
Coordinates based on the acoustic sensors 61 to 63 by the spherical method
The two-dimensional position of the spacecraft 1 in the system is determined. In addition,
The depth of the running body 1 is obtained by demodulating the Nga signal. To these
The coordinate system based on the acoustic sensors 61-63.
The three-dimensional position of the acoustic pinger 11 can be guided.

The coordinates of this result are converted to obtain the three-dimensional position of the acoustic pinger 11 of the navigation body 1 in the reference coordinate system.
In the case of the asynchronous pinger, the distance difference between the acoustic pinger and the acoustic sensor is calculated for each of the four or more acoustic sensors,
The position of the navigation vehicle 1 in the reference coordinate system is calculated by the hyperboloid method.

Next, a second embodiment of the present invention will be described. In the first embodiment of the present invention described above, the LBL
Since the acoustic sensors are arranged on almost the same plane and the accuracy in the depth direction is poor, in order to measure the three-dimensional position of the vehicle,
It still has the problem to be solved that it is necessary to transmit the depth information to the measurement vessel by attaching a depth sensor to the vehicle and modulating the pinga signal.
The second embodiment of the present invention solves not only the problem but also this problem.

FIG. 4 is a diagram showing a second embodiment of the present invention in the case where a synchronous pinger is used as the acoustic pinger 11 of the navigation vehicle 1. The position detecting device for an underwater vehicle according to the second embodiment of the present invention comprises a vehicle 1, transponders 31 to 33 moored to the sea bottom, and float buoys 51 to 51 floating on the sea.
Each float buoy 51 is composed of 53 and a measuring ship 2.
Acoustic sensors 80, 62, 63 are suspended from the sea from 53 to 53, and two or more acoustic sensors 81, 8 from one or more float buoys among the plurality of float buoys 51 to 53.
An acoustic sensor array having a structure in which 2 is attached at positions separated in the depth direction is suspended. This acoustic sensor array is called an SBL acoustic sensor 80.

In the position detecting device for an underwater vehicle of the present invention, three or more transponders are moored to the seabed. In the illustrated second embodiment, three transponders 31 to 33 are used.
Is moored to the seabed, and the three-dimensional position in the reference coordinate system set in the measurement area is measured by calibration. Furthermore, the distances L _{1 to} L ₃ between the bottom wave transmitter 21 of the measuring ship 2 and the wave transmitters / receivers 41 to 43 of each transponder are measured at appropriate time intervals by another acoustic measuring means. Further, the plurality of float buoys 51 to 53 are floating on the sea in the measurement area at appropriate intervals, and in the sea, acoustic sensors 62 and 63 composed of one wave receiver and the SBL of the acoustic sensor array. It has a function of suspending the acoustic sensor 80 in the sea and transmitting the reception signals of the acoustic sensors 62 and 63 and the SBL acoustic sensor 80 from the antennas in the air to the measurement ship 2 through the wireless data links 71 to 73. Float buoy 51-
Three 53 are used when the acoustic pinger 11 of the navigation body 1 is a synchronous pinger, and four or more are used when it is an asynchronous pinger. Among the float buoys 51 to 53, at least one float buoy hangs an acoustic sensor array having an array structure in which two or more acoustic sensors are attached at positions separated in the depth direction. One of the acoustic sensor arrays is an acoustic sensor 81,
The other is configured by the acoustic sensor 82 and is referred to as an SBL acoustic sensor 80. In this embodiment, the transponder 3
Compared to the baseline length of 1-33, transponder 31
~ 33 and the acoustic sensors 62, 6 of the float buoys 51-53
3 and the SBL acoustic sensor 80 have a large depth difference,
It is assumed that the three-dimensional positions of the acoustic sensors 62 and 63 and the SBL acoustic sensor 80 can be measured using the transponders 31 to 33 by the L method.

Generally, since the depth range of the navigation body 1 can be from the surface of the water to the vicinity of seawater, the depth difference between the acoustic pinga 11 of the navigation body 1 and the acoustic sensors 62, 63 and the SBL acoustic sensor 80 is the acoustic sensors 62, 63. And the SBL acoustic sensor 80 may be shorter than the baseline length. In this case, the LBL method using the acoustic sensor reduces the measurement accuracy in the depth direction in the position measurement of the acoustic pinger 11 of the navigation body 1. Therefore, in this embodiment, the two-dimensional position of the acoustic pinger 11 is obtained by the LBL method, and the position of the acoustic pinger 11 in the depth direction is looked up by the SBL acoustic sensor 80 by the SBL method. The direction is obtained, and the three-dimensional position of the acoustic pinger 11 is obtained from both.

The operation of the second embodiment of the present invention will be described below. First, an interrogate transmitter 22 attached to the bottom of the measuring ship 2 transmits an interrogate signal at a frequency f ₁ . This signal is received by the transceivers 41 to 43 of the transponders 31 to 33 installed on the seabed. When the transponder 31 receives the interrogate signal from the measuring vessel 2 via the route L ₁ , it immediately transmits the response signal at the frequency f ₂ . The response signal is received by the SBL acoustic sensor 80 suspended from the float buoy 51 via the route J ₁₁ . In addition, the response signal is similarly received by the acoustic sensor 62 of the float buoy 52 via the route J ₁₂ , and the route J ₁₃
After that, the sound sensor 63 of the float buoy 53 receives them. Transponder 32 and transponder 33
Similarly, the interrogated signal of the frequency f ₁ is received from the interrogated transmitter 22, and the frequency f ₃ and the frequency f ₄ peculiar to each transponder are immediately received.
To send a response signal. As with the transponder 1, the response signals are respectively received by the float buoy 51, the float buoy 52 and the float buoy 53. Therefore, the response signal received by the float buoy 51 is the path J ₁₁
A signal of frequency f ₂ transmitted via path J, a signal of frequency f ₃ transmitted via path J _21, and a signal of frequency f ₄ transmitted via path J ₃₁ . Also, float buoy 52
The response signal received by the signal is a signal of frequency f ₂ transmitted via the path J ₁₂ and a frequency f ₃ transmitted via path J _22.
And the signal of frequency f ₄ transmitted via path J ₃₂ .

The running body 1 has a synchronous pinga or an asynchronous pin.
The moth is attached and the sound of each float buoy 51-53
For sensors 62, 63 and SBL acoustic sensor 80,
Road M ₁, M₂And M₃Frequency f_FiveA pinga signal at
Send. In each float buoy 51 to 53
Pinger signal and transponder 31, transponder
Sound from the response signal from the DA 32 and transponder 33
The sensors 62, 63 and the SBL acoustic sensor 80 receive,
Immediately from the aerial part of the float buoy 51-53
The data is sent to the measuring ship 2 through the wireless data links 71 to 73.

The measuring ship 2 performs the following processing on the reception signals of the acoustic sensors 62 and 63 and the SBL acoustic sensor 80 transmitted from the float buoys 51 to 53. First, the float buoys 51 to 5 of the response signals from the transponders 31 to 33 in response to the interrogation signal from the measurement ship 2.
The reception times at the acoustic sensors 81, 62, 63 of No. 3 are measured. The measured time by the transducer of the interrogating transmitters 22- Each transponder 31 to 33 Measurement Ship 2 - path of the acoustic sensor 61 to 63 of the float buoy 51 to 53, or path (L ₁ -J _11), ( L ₁ -J ₁₂ ),
(L ₁ -J _13), the path _{(L 2 -J 21), (} L 2 -
_{J 22), (L 2 -J} 23) and the path _{(L 3 -J 31), (} L
_The propagation time along each of ( _3- J ₃₂ ) and (L _3- J ₃₃ ) is obtained, and the distance of each route is calculated from this propagation time.
Here, interrogated transmitters 22- path L ₁ of each transponder 31-33 transducer measuring vessel 2, the distance of the route L ₂ and the path L ₃ are known by other acoustic measuring means. Therefore, said transducer for interrogating transmitters 22- Each transponder 31 to 33 Measurement Ship 2 - path of the acoustic sensor 81,62,63 of each float buoy 51 to 53, or path (L ₁ -J ₁₁₎ , (L ₁ -J ₁₂ ),
(L ₁ -J _13), the path _{(L 2 -J 21), (} L 2 -
_{J 22), (L 2 -J} 23) and the path _{(L 3 -J 31), (} L
_3- J ₃₂ ), (L ₃ -J ₃₃ ) by subtracting the distances of the known paths L ₁ , L ₂ and L ₃ from the distances of (L ₃ -J ₃₃ ), the transducers of the transponders 31 to 33-the float buoys. It is possible to calculate the distances of the routes J ₁₁ , J ₁₂ , J ₁₃ , the routes J ₂₁ , J ₂₂ , J _23, and the routes J ₃₁ , J ₃₂ , J ₃₃ of the acoustic sensors 81, 62, 63 of 51 to 53.

Since the coordinate positions of the transponders 31 to 33 are known by the calibration, these results and the above-mentioned routes J ₁₁ , J ₁₂ , J ₁₃ , routes J ₂₁ , J ₂₂ ,
The three-dimensional positions of the acoustic sensors 81, 62, 63 of the float buoys 51 to 53 in the reference coordinate system can be calculated from the distances of J ₂₃ and the paths J ₃₁ , J ₃₂ , J ₃₃ by the spherical method.

Further, the acoustic sensors 61 to 63 have depth sensors built-in, and each acoustic sensor receives a response signal of the transponder to the interrogate signal transmitted from the measurement vessel, and the transponder and each acoustic sensor are received from the reception time of the response signal. Then, the distance between the two
It is also possible to obtain the three-dimensional position of the acoustic sensor in the coordinate system with the transponder as a reference by obtaining the dimensional position, obtaining the depth direction information of the built-in depth sensor.

From these results, the acoustic sensors 81, 62, 6
Set the coordinate system based on 3. In parallel with the above processing, the SBL acoustic sensor 80 receives the response signal from the transponder 1 via the path J ₁₁ and constitutes the SBL acoustic sensor 80.
The elevation direction of the transponder 1 with the SBL acoustic sensor 80 as a reference is calculated by the SBL method from the time difference between the received signals. Similarly, the response signals are received from the transponder 32 and the transponder 33 through the routes J ₁₂ and J ₁₃ , and the elevation direction of the transponder 32 and the transponder 33 with respect to the SBL acoustic sensor 80 is calculated. Since the coordinates of each transponder 31 and 33 and the coordinates of the SBL acoustic sensor 80 are known, the inclination of the SBL acoustic sensor 80 in the reference coordinate system is calculated by coordinate conversion.

Next, each path length is obtained from the reception time of the pinga signal from the acoustic pinga 1 received via the paths M ₁ , M ₂ and M ₃ , and the acoustic sensors 81, 62 and 63 are calculated by the spherical method.
Acoustic pinga 11 of the vehicle 1 in the coordinate system based on
Find the position of. With these, the acoustic sensors 81, 6
The two-dimensional position of the acoustic pinger 11 in the coordinate system based on 2, 63 can be derived. Further, the SBL acoustic sensor 80 receives the pinging signal from the acoustic pinger 11 and calculates the elevation direction of the acoustic pinger 11 based on the SBL acoustic sensor 80 by the SBL method.
The three-dimensional position of the acoustic pinger 11 in the coordinate system with the acoustic sensors 81, 62, and 63 as the reference is obtained from the two-dimensional position of the acoustic sensor. Already, each acoustic sensor 8 in the reference coordinate system
Since the positions of 1, 62, 63 and the position and inclination of the SBL acoustic sensor 80 have been obtained, the acoustic sensors 81, 6
The three-dimensional position of the acoustic pinger 11 of the navigation body 1 in the reference coordinate system is obtained by coordinate-converting the three-dimensional position of the acoustic pinger 11 with the SBL acoustic sensors 80 and 63 as the reference.

In the case of the asynchronous pinger, the distance difference between the acoustic pinger 11 and the acoustic sensor is obtained for each of the four or more acoustic sensors, and the sound of the running body 1 in the coordinate system based on the acoustic sensor is calculated by the hyperboloid method. The position of the pinger 11 is obtained. From this result and the calculation result of the elevation direction of the acoustic pinger 11 based on the SBL acoustic sensor 80, the three-dimensional position of the navigation body 1 in the reference coordinate system can be calculated.

Next, a third embodiment of the present invention will be described. The third embodiment of the present invention solves the problems and in the same manner as the second embodiment of the present invention. FIG. 5 is a diagram showing a third embodiment of the present invention in the case where a synchronous pinger is used as the acoustic pinger 11 of the navigation body 1.

The position detecting device for an underwater vehicle according to the third embodiment of the present invention comprises a vehicle 1, transponders 31 to 33 moored to the seabed, and float buoys 51 to floating on the sea. 53 and the measuring ship 2, acoustic sensors 61, 62, 63 are suspended from the float buoys 51 to 53 in the sea, and a plurality of float buoys 51 to 5 are provided.
3D SSBL from one or more float buoys out of 3
The acoustic sensor 90 is attached at a position separated from the acoustic sensor in the depth direction. One acoustic sensor 61, 6
Reference numerals 2 and 63 are for performing LBL positioning, and the other three-dimensional SSBL acoustic sensor is for performing three-dimensional SSBL positioning.

In the position detecting device for an underwater vehicle of the present invention, three or more transponders are moored to the seabed. In the illustrated second embodiment, three transponders 31 to 33 are used.
Is moored to the seabed, and the three-dimensional position in the reference coordinate system set in the measurement area is measured by calibration. Furthermore, the distances L _{1 to} L ₃ between the bottom wave transmitter 21 of the measuring ship 2 and the wave transmitters / receivers 41 to 43 of each transponder are measured at appropriate time intervals by another acoustic measuring means.

Further, the plurality of float buoys 51 to 53 are floating above the sea in the measurement area at appropriate intervals, and acoustic sensors 62 and 63 composed of one wave receiver in the sea.
An acoustic sensor 91 and a three-dimensional SSBL acoustic sensor 92 are separated from each other in the depth direction to suspend a set of two types of acoustic sensors. The reception signals of the acoustic sensors 61, 62, 63 and the three-dimensional SSBL acoustic sensor 90 are transmitted from the antennas in the air through the wireless data links 71 to 73 to the measurement ship 2
Be transmitted to. Three float buoys 51 to 53 are used when the acoustic pinger 11 of the navigation vehicle 1 is a synchronous pinger, and four or more are used when the acoustic pinger 11 is an asynchronous pinger.

In this embodiment, the transponder 31
~ 33 compared to the baseline length, transponder 31 ~
33 and acoustic sensors 61 and 6 of the float buoys 51 to 53
The depth difference between the two sensors 63 and 63 is sufficiently large, and the acoustic sensors 61, 6 using the transponders 31-33 by the LBL method.
It is assumed that the two-dimensional positions of 2, 63 can be measured. In general, the depth range of the vehicle 1 can range from the surface of the water to the vicinity of seawater. Therefore, the acoustic pinga 11 and the acoustic sensor 6 of the vehicle 1 can be used.
The depth difference of 1, 62, 63 is the acoustic sensor 61, 62, 63.
It may be smaller than the baseline length of. In this case, the LBL method using the acoustic sensor reduces the measurement accuracy in the depth direction in the position measurement of the acoustic pinger 11 of the navigation body 1. Therefore, in this embodiment, the float buoy 5
The position of the acoustic pinger 11 based on the acoustic sensors 61 to 63 of 1 to 53 is first obtained as a two-dimensional position by the LBL method, and then the position in the depth direction is determined by the SSBL method using the three-dimensional SSBL acoustic sensor 90. The three-dimensional direction of the acoustic pinger 11 of the navigation body 1 is obtained by the above, and the three-dimensional position of the acoustic pinger 11 in the reference coordinate system is obtained by coordinate conversion from these results. The operation of the third embodiment of the present invention will be described below.

The two-dimensional position of the acoustic pinger 11 is obtained by the LBL method, and the position of the acoustic pinger 11 in the depth direction is SBL.
Using the acoustic sensor 80, the elevation direction of the acoustic pinger 11 of the navigation body 1 is obtained by the SBL method, and the acoustic pinger 1 is calculated from both directions.
Obtain the three-dimensional position of 1. The operation of the second embodiment of the present invention will be described below. First, an interrogate transmitter 22 attached to the bottom of the measuring ship 2 transmits an interrogate signal at a frequency f ₁ . This signal is received by the transceivers 41 to 43 of the transponders 31 to 33 installed on the seabed.

When the transponder 31 receives the interrogate signal from the measuring vessel 2 via the route L ₁ , it immediately transmits the response signal at the frequency f ₂ . Response signal is route J
Acoustic sensor 61 suspended from float buoy 51 via ₁₁
Will be received at. Similarly, the response signal is received by the acoustic sensor 62 of the float buoy 52 via the route J ₁₂ and is also received by the acoustic sensor 63 of the float buoy 53 via the route J _13.
And the three-dimensional SSBL acoustic sensor 90 respectively.

Transponder 32 and transponder 3
Similarly, for 3 from the interrogator transmitter 22
Frequency f₁Receive the interrogation signals of
Immediately the frequency f peculiar to each transponder₃And frequency f
_FourTo send a response signal. Same as for transponder 1
Similarly, the response signal is float buoy 51, float buoy 52
And each is received by the float buoy 53. Because
The response signal received by the float buoy 51 is route J₁₁
Frequency f transmitted via₂Signal and route J _{twenty one}Through
Frequency f transmitted₃Signal and route J₃₁Sent via
Frequency f_FourSignal. Also, float buoy 52
The response signal received by the₁₂Frequency transmitted through
Number f₂Signal and route J_{twenty two}Frequency f transmitted via₃
Signal and route J₃₂Frequency f transmitted via_FourSignal of
Is.

A synchronous pinger or an asynchronous pinger is attached to the navigation body ₁ , and the paths M ₁ and M ₂ are connected to the acoustic sensors 61, 62 and 63 of the float buoys 51 to 53 and the three-dimensional SSBL acoustic sensor 90. And the frequency f ₅ via M ₃
To send a pinga signal. In each of the float buoys 51 to 53, the pinger signal from the navigation vehicle 1 and the transponder 3
1, response signals from the transponder 32 and the transponder 33 are transmitted to the acoustic sensors 61, 62, 63 and the three-dimensional S
Received by SBL acoustic sensor 90 and immediately float buoy 5
Wireless data link 71 from antennas 1 to 53 in the air
~ 73 to send to the measuring ship 2.

The measuring ship 2 has acoustic sensors 61, 62, 63 and three-dimensional S transmitted from the float buoys 51-53.
The following processing is performed on the reception signal of the SBL acoustic sensor 90. First, the reception times at the acoustic sensors 61, 62, 63 of the float buoys 51 to 53 of the response signals from the transponders 31 to 33 in response to the interrogation signal from the measurement ship 2 are measured. Measuring ship 2 by this measuring time
Interrogator transmitter 22-each transponder 31-
33 of the transducer - path of the acoustic sensor 61 to 63 of the float buoy 51 to 53, or path (L ₁ -J _{11),
(L 1 -J 12), (} L 1 -J 13), the path (L ₂ -
_{J 21), (L 2 -J} 22), (L 2 -J 23) and the path (L
_{3 -J 31), (L 3} -J 32), obtains a propagation time along the each of the (L ₃ -J _33), calculates the distance of each path from the propagation time. Here, interrogated transmitters 22- path L ₁ of each transponder 31-33 transducer measuring vessel 2, the distance of the route L ₂ and the path L ₃ are known by other acoustic measuring means. Therefore, the interrogator wave transmitter 22 of each of the above-mentioned measurement vessels 2 and each transponder 31 to 33
Transducer-Acoustic sensor 6 of each float buoy 51-53
₁ , 62, 63 routes, that is, the route (L ₁ -J ₁₁ ),
_{(L 1 -J 12), (} L 1 -J 13), the path (L ₂ -
_{J 21), (L 2 -J} 22), (L 2 -J 23) and the path (L
_{3 -J 31), (L 3} -J 32), (L 3 path L ₁ from the distance of the known -J _33), by subtracting the distance of the route L ₂ and the path L _3, each transponder 31-33 Transducer-acoustic sensor 61 of each float buoy 51-53,
62, 63 routes J ₁₁ , J ₁₂ , J ₁₃ , routes J ₂₁ , J ₂₂ ,
It is possible to calculate the distance between J ₂₃ and the routes J ₃₁ , J ₃₂ , and J ₃₃ .

Since the coordinate positions of the transponders 31 to 33 are known by the calibration, these results and the above-mentioned routes J ₁₁ , J ₁₂ , J ₁₃ , routes J ₂₁ , J ₂₂ ,
The three-dimensional positions of the acoustic sensors 61, 62, 63 of the float buoys 51 to 53 in the reference coordinate system can be calculated from the distances of J ₂₃ and the paths J ₃₁ , J ₃₂ , J ₃₃ by the spherical method.

Further, the acoustic sensors 61 to 63 have depth sensors built-in, and each acoustic sensor receives a response signal of the transponder to the interrogate signal transmitted from the measurement ship, and the transponder and each acoustic sensor are received from the reception time of the response signal. Then, the distance between the two
It is also possible to obtain the three-dimensional position of the acoustic sensor in the coordinate system with the transponder as a reference by obtaining the dimensional position, obtaining the depth direction information of the built-in depth sensor.

From these results, the acoustic sensors 61, 62, 6
Set the coordinate system based on 3. In parallel with the above processing, the three-dimensional SSBL acoustic sensor 90 receives the response signal from the transponder 1 via the path J ₁₁ . The three-dimensional SSBL acoustic sensor 90 is composed of three line arrays that are orthogonal to each other, and detects the arrival direction of a sound wave from the phase difference of the received signals between the acoustic sensor elements that form the line array. By detecting the arrival direction of the received sound signal for each of the three line arrays, the arrival direction of the signal can be detected in three dimensions. This 3D SSB
3D SSBL acoustic sensor 90 by L acoustic sensor
3D direction of transponder 31 based on SSB
It is calculated by the L method.

Similarly, the response signals are received from the transponder 32 and the transponder 33 through the routes J ₁₂ and J ₁₃ , and the three-dimensional directions of the transponder 32 and the transponder 33 with reference to the three-dimensional SSBL acoustic sensor 90 are calculated. From this result, since the coordinates of the transponders 31 and 33 and the coordinates of the three-dimensional SSBL acoustic sensor 90 are known, the three-dimensional posture is calculated by calculating the tilt and direction of the three-dimensional SSBL acoustic sensor 90 in the reference coordinate system by coordinate conversion. Ask for.

Next, each path length is obtained from the reception time of the pinga signal from the acoustic pinga 1 received via the paths M ₁ , M ₂ and M ₃ , and the acoustic sensors 61, 62, 63 by the spherical method.
Acoustic pinga 11 of the vehicle 1 in the coordinate system based on
Find the position of. With these, the acoustic sensors 61, 6
The two-dimensional position of the acoustic pinger 11 in the coordinate system based on 2, 63 can be derived. Further, the three-dimensional SSBL acoustic sensor 90 receives the pinga signal from the acoustic pinga 11,
The three-dimensional direction of the acoustic pinger 11 is calculated based on the three-dimensional SSBL acoustic sensor 90 by the SSBL method, and the acoustic sensor 6 is calculated from the result and the two-dimensional position of the acoustic pinger 11.
The three-dimensional position of the acoustic pinger 11 in the coordinate system based on 1, 62, 63 is obtained. Since the positions of the respective acoustic sensors 61, 62, 63 and the position, inclination and direction of the three-dimensional SSBL acoustic sensor 90 in the reference coordinate system have already been obtained, the acoustic sensors 61, 62, 63 and the three-dimensional SSBL acoustic sensor 90. By coordinate-converting the three-dimensional position of the acoustic pinger 11 with reference to, the three-dimensional position of the acoustic pinger 11 of the navigation body 1 in the reference coordinate system is obtained.

In the case of the asynchronous pinger, the distance difference between the acoustic pinger 11 and the acoustic sensor is obtained for each of the four or more acoustic sensors, and the sound of the running body 1 in the coordinate system with the acoustic sensor as a reference by the hyperboloid method. The position of the pinger 11 is obtained. From this result and the calculation result of the acoustic pinger 11 in the three-dimensional direction based on the three-dimensional SSBL acoustic sensor 90, the three-dimensional position of the navigation body 1 in the reference coordinate system can be calculated.

In this embodiment, the three-dimensional SSBL acoustic sensor 90 is composed of three line arrays orthogonal to each other. However, if the mutually intersecting angles are known, the three line arrays are not orthogonal. May be. Further, it is also possible to configure a plane array instead of the line array. Further, in the float buoy 1, it is possible to share one of the acoustic sensors 61 to 63 for performing LBL positioning and one acoustic sensor element constituting the three-dimensional SSBL acoustic sensor 90.

[0057]

As described above, according to the present invention, (1) for measuring the position of a vehicle, a pinga signal is received by an acoustic sensor suspended from a float buoy, and the signal is transmitted via a wireless data link. Since it is transmitted to the measurement vessel after that, the underwater propagation distance of the pinga signal is shortened, and the data rate can be increased. (2) In the conventional float buoy method, the position of the buoy in the air is measured by a radar or the like, so the position of the LBL acoustic sensor suspended in the water fluctuates with time in a sea area where there is a flow, and there is a large error in acoustic positioning. Although it becomes a factor, in the present invention, since the position of the LBL acoustic sensor is calibrated by the transponder moored on the seabed, acoustic positioning can be performed with high accuracy. (3) Further, according to the second embodiment of the present invention, since the depth of the vehicle is detected by the SBL acoustic sensor with at least one float buoy, the depth information is not sent from the vehicle. It becomes possible to detect a three-dimensional position. (4) In addition, according to the third embodiment of the present invention, since the depth of the running body can be detected by the three-dimensional SSBL acoustic sensor with at least one float buoy, the depth information can be sent from the running body. Therefore, the three-dimensional position can be detected.

The present invention is not limited to the above-described embodiments, and various changes can be made based on the spirit of the present invention, and these are not excluded from the scope of the present invention.

[Brief description of drawings]

FIG. 1 is a diagram showing a first embodiment of the present invention.

FIG. 2 is a schematic view of a conventional underwater vehicle position detecting device and method by a method of providing an acoustic sensor on a transponder installed on a seabed.

FIG. 3 is a schematic view of a conventional underwater vehicle position detection device and method by a method of suspending an acoustic sensor in the sea from a float buoy floating on the sea surface.

FIG. 4 is a diagram showing a second embodiment of the present invention.

FIG. 5 is a diagram showing a third embodiment of the present invention.

[Explanation of symbols]

 1 Vessel 2 Measuring Ship 3, 31, 32, 33 Transponder 11 Acoustic Pinger 12 Depth Sensor 21 Bottom Transducer 22 Interrogate Transmitter 41, 42, 43 Transducer 51, 52, 53 Float Buoy 61, 62, 63,81,82 acoustic sensor 71,72,73 wireless data link 80 SBL acoustic sensor 90 three-dimensional SSBL acoustic sensor

Claims (12)

[Claims] 1. An acoustic pinger attached to a running body, (b) depth measuring means for measuring the depth of the running body, and (c) an acoustic interrogator attached to a measuring vessel.
(D) Three or more transponders whose seabed installation positions are known, which transmit response signals to the interrogation signals from the acoustic interrogator at different frequencies, respectively.
(E) a plurality of float buoys for transmitting a pinga signal from the navigation vehicle and a response signal from each of the transponders to the measurement vessel through a wireless data link; and (f) the pinga signal suspended from the float buoy. And (g) an acoustic sensor that receives the response signal, and (g) a position of the underwater vehicle that acoustically measures the three-dimensional position of the vehicle by the LBL method from the pinga signal, the response signal, and the depth. Detection device. 2. The position detecting device for an underwater vehicle according to claim 1, wherein the depth measuring means is built in the underwater vehicle, and the pinger signal is modulated by a signal of the depth measuring means. 3. The position detecting device for an underwater vehicle according to claim 1, wherein the depth measuring means is an acoustic sensor array in which two or more acoustic sensors are attached separately in the depth direction. 4. The three-dimensional SSBL for detecting the signal arrival direction in three dimensions by the SSBL method.
The position detecting device for an underwater vehicle according to claim 1, which is an acoustic sensor. 5. The acoustic sensor has a built-in depth sensor for detecting the depth of the acoustic sensor.
The position detecting device for the underwater vehicle described. 6. An acoustic pinger attached to a navigation vehicle, an acoustic interrogator attached to a measurement vessel, and three or more submarine installations that transmit response signals at different frequencies to interrogate signals from the acoustic interrogator. It consists of a transponder whose position is known, a plurality of float buoys for transmitting a pinger signal from the above-mentioned vehicle and a response signal from each transponder to a measuring vessel through a wireless data link, and an acoustic sensor suspended on the float buoy. In the method for detecting the position of an underwater vehicle which acoustically measures the three-dimensional position of the vehicle by the LBL method, (a) a response signal of the transponder to the interrogate signal is received by the acoustic sensor, and (b) the The distance between the transponder and the acoustic sensor is calculated from the reception time of the response signal, and the spherical method is calculated from the distance. Therefore, the three-dimensional position of the acoustic sensor in the coordinate system with the transponder as a reference is obtained, (c) the pinga signal modulated by the depth sensor information is transmitted from the acoustic pinga by the synchronous pinga, and (d) the pinga signal is transmitted by the acoustic sensor. And (e) the distance between the acoustic pinga and the acoustic sensor is obtained from the reception time of the pinger signal at the transponder, and (f) the coordinate system with the acoustic sensor as a reference by the spherical method from the distance. Obtaining the two-dimensional position of the running body, and (g) obtaining the three-dimensional position of the running body in the coordinate system based on the acoustic sensor from the two-dimensional position of the running body and the depth sensor information,
(H) Water characterized in that the three-dimensional position of the running body is obtained by performing coordinate conversion of the three-dimensional position of the running body to the three-dimensional position of the running body in a coordinate system with the transponder as a reference. Position detection method for mid-water vehicles. 7. An acoustic pinger attached to a navigation vehicle, an acoustic interrogator attached to a measurement ship, and three or more submarine installations that transmit response signals at different frequencies to interrogate signals from the acoustic interrogator. It consists of a transponder whose position is known, a plurality of float buoys for transmitting a pinger signal from the above-mentioned vehicle and a response signal from each transponder to a measuring vessel through a wireless data link, and an acoustic sensor suspended on the float buoy. In the method for detecting the position of an underwater vehicle which acoustically measures the three-dimensional position of the vehicle by the LBL method, (a) a response signal of the transponder to the interrogate signal is received by the acoustic sensor, and (b) the The distance between the transponder and the acoustic sensor is calculated from the reception time of the response signal, and the spherical method is calculated from the distance. Therefore, the three-dimensional position of the acoustic sensor in the coordinate system based on the transponder is obtained, (c) the pinga signal modulated by the depth sensor information is transmitted from the acoustic pinga by the asynchronous pinga, and (d) the pinga signal is transmitted by the acoustic sensor. And (e) the distance between the acoustic pinga and the acoustic sensor is obtained from the reception time of the pinger signal at the transponder, and (f) the coordinate system based on the acoustic sensor by the hyperboloid method from the distance. The two-dimensional position of the vehicle in
A three-dimensional position of the running body in a coordinate system based on the acoustic sensor is obtained from the dimensional position and the depth sensor information, and (h) the coordinate system based on the transponder is the three-dimensional position of the running body. The method for detecting the position of an underwater vehicle, wherein the three-dimensional position of the vehicle is converted into coordinates to obtain the three-dimensional position of the vehicle. 8. An acoustic pinger attached to a navigation vehicle, an acoustic interrogator attached to a measuring vessel, and three or more submarine installations that transmit response signals at different frequencies to interrogate signals from the acoustic interrogator. A transponder whose position is known, a plurality of float buoys for transmitting a pinger signal from the vehicle and a response signal from each transponder to a measurement ship through a wireless data link, and an acoustic sensor and sound suspended on the float buoy. It consists of a sensor array, and the three-dimensional position of the vehicle is LB.
In a method of detecting a position of an underwater vehicle that acoustically measures by the L method, (a) a response signal of the transponder to the interrogate signal is received by the acoustic sensor and an acoustic sensor array, and (b) from a reception time of the response signal. The distance between the transponder and the acoustic sensor is obtained, the three-dimensional position of the acoustic sensor in the coordinate system with the transponder as a reference is obtained by the spherical method from the distance, and (c) the acoustic sensor array is referred to from the reception time of the response signal. Then, the elevation direction of the transponder is obtained, the inclination of the acoustic sensor array in the coordinate system with the transponder as a reference is obtained by coordinate conversion from the elevation direction, and (d) the pinga signal modulated by the depth sensor information from the acoustic pinga is used as a synchronization pinga. And (e) transmitting the pinger signal to the acoustic sensor and the acoustic sensor array. (F) the distance between the acoustic pinga and the acoustic sensor is obtained from the reception time of the pinger signal at the transponder, and (g) the distance in the coordinate system with the acoustic sensor as a reference by the spherical method from the distance. The two-dimensional position of the vehicle is obtained, (h) the elevation direction of the acoustic pinger based on the acoustic sensor array is determined from the reception time of the pinger signal, and (i) the navigation in the coordinate system based on the acoustic sensor is performed. From the two-dimensional position of the running body and the elevation direction of the acoustic pinga based on the acoustic sensor array, the three-dimensional position of the running body in the coordinate system based on the acoustic sensor is obtained, and (j) 3 of the running body is obtained. Position detection of an underwater vehicle, wherein the three-dimensional position of the vehicle is obtained by performing coordinate conversion of the three-dimensional position into a three-dimensional position of the vehicle in a coordinate system with the transponder as a reference. Law. 9. An acoustic pinger attached to a navigation vehicle, an acoustic interrogator attached to a measurement ship, and three or more submarine installations that transmit response signals at different frequencies to interrogate signals from the acoustic interrogator. A transponder whose position is known, a plurality of float buoys for transmitting a pinger signal from the vehicle and a response signal from each transponder to a measurement ship through a wireless data link, and an acoustic sensor and sound suspended on the float buoy. It consists of a sensor array, and the three-dimensional position of the vehicle is LB.
In a method of detecting a position of an underwater vehicle that acoustically measures by the L method, (a) a response signal of the transponder to the interrogate signal is received by the acoustic sensor and an acoustic sensor array, and (b) from a reception time of the response signal. The distance between the transponder and the acoustic sensor is obtained, the three-dimensional position of the acoustic sensor in the coordinate system with the transponder as a reference is obtained by the spherical method from the distance, and (c) the acoustic sensor array is referred to from the reception time of the response signal. The elevation direction of the transponder is obtained, the inclination of the acoustic sensor array in the coordinate system with the transponder as a reference is obtained by coordinate conversion from the elevation direction, and (d) the pinga signal modulated by the depth sensor information from the acoustic pinga is used as an asynchronous pinga. And (e) transmitting the pinger signal to the acoustic sensor and the acoustic sensor array. (F) The distance between the acoustic pinga and the acoustic sensor is obtained from the reception time of the pinga signal at the transponder, and (g) the coordinate system with the acoustic sensor as a reference from the distance by the hyperboloid method. In the coordinate system based on the acoustic sensor, (h) the elevation direction of the acoustic pinga based on the acoustic sensor array is determined from the reception time of the pinga signal, and (i) in the coordinate system based on the acoustic sensor. From the two-dimensional position of the running body and the elevation direction of the acoustic pinga based on the acoustic sensor array, the three-dimensional position of the running body in the coordinate system based on the acoustic sensor is obtained, and (j) the running body Position of the underwater vehicle, wherein the three-dimensional position of the underwater vehicle is obtained by performing coordinate conversion to the three-dimensional position of the underwater vehicle in a coordinate system based on the transponder. Way out. 10. An acoustic pinger attached to a navigation vehicle, an acoustic interrogator attached to a measurement ship, and three or more submarine installations that transmit response signals at different frequencies to interrogate signals from the acoustic interrogator. A transponder whose position is known, a plurality of float buoys for transmitting a pinger signal from the navigation vehicle and a response signal from each transponder to a measurement ship through a wireless data link, and an acoustic sensor and 3 suspended from the float buoy. A three-dimensional SSBL acoustic sensor for acoustically measuring the three-dimensional position of the marine vessel by the LBL method, wherein: (a) a response signal of the transponder to the interrogate signal is transmitted to the acoustic sensor; The three-dimensional SSBL acoustic sensor, and (b) from the reception time of the response signal, The distance between the transponder and the acoustic sensor is obtained, the three-dimensional position of the acoustic sensor in the coordinate system with the transponder as a reference is obtained from the distance by the spherical method, and (c) the three-dimensional SSB from the reception time of the response signal.
Three-dimensional SSBL in the coordinate system with the transponder as a reference is obtained by obtaining the three-dimensional direction of the transponder with the L acoustic sensor as a reference, and performing coordinate conversion from the three-dimensional direction.
Obtaining the three-dimensional posture of the inclination and direction of the acoustic sensor, (d)
A pinga signal modulated by the depth sensor information is transmitted from the acoustic pinga by the synchronous pinga, (e) the pinga signal is received by the acoustic sensor and the three-dimensional SSBL acoustic sensor, and (f).
The distance between the acoustic pinga and the acoustic sensor is calculated from the time when the transponder receives the pinga signal, and (g)
From the distance, a two-dimensional position of the running body in a coordinate system based on the acoustic sensor is obtained by the spherical method, and (h)
The three-dimensional direction of the acoustic pinger based on the three-dimensional SSBL acoustic sensor is obtained from the reception time of the pinger signal, and (i)
From the two-dimensional position of the running body in the coordinate system based on the acoustic sensor and the three-dimensional direction of the acoustic pinga based on the three-dimensional SSBL acoustic sensor, the running body in the coordinate system based on the acoustic sensor. Find the three-dimensional position of
(J) Water characterized in that the three-dimensional position of the running body is obtained by coordinate-transforming the three-dimensional position of the running body into the three-dimensional position of the running body in a coordinate system with the transponder as a reference. Position detection method for mid-water vehicles. 11. An acoustic pinger attached to a navigation vehicle, an acoustic interrogator attached to a measurement vessel, and three or more submarine installations that transmit response signals at different frequencies to interrogate signals from the acoustic interrogator. A transponder whose position is known, a plurality of float buoys for transmitting a pinger signal from the navigation vehicle and a response signal from each transponder to a measurement ship through a wireless data link, and an acoustic sensor and 3 suspended from the float buoy. A three-dimensional SSBL acoustic sensor for acoustically measuring the three-dimensional position of the marine vessel by the LBL method, wherein: (a) a response signal of the transponder to the interrogate signal is transmitted to the acoustic sensor; The three-dimensional SSBL acoustic sensor, and (b) from the reception time of the response signal, The distance between the transponder and the acoustic sensor is obtained, the three-dimensional position of the acoustic sensor in the coordinate system with the transponder as a reference is obtained from the distance by the spherical method, and (c) the three-dimensional SSB from the reception time of the response signal.
Three-dimensional SSBL in the coordinate system with the transponder as a reference is obtained by obtaining the three-dimensional direction of the transponder with the L acoustic sensor as a reference, and performing coordinate conversion from the three-dimensional direction.
Obtaining the three-dimensional posture of the inclination and direction of the acoustic sensor, (d)
An asynchronous pinger transmits a pinger signal modulated with depth sensor information from the acoustic pinger, and (e) receives the pinger signal with the acoustic sensor and the three-dimensional SSBL acoustic sensor,
(F) The distance between the acoustic pinger and the acoustic sensor is obtained from the reception time of the pinger signal at the transponder,
(G) The two-dimensional position of the navigation vehicle in the coordinate system based on the acoustic sensor is obtained from the distance by the hyperboloid method, and (h) the three-dimensional SSB is obtained from the reception time of the pinga signal.
The three-dimensional direction of the acoustic pinger based on the L acoustic sensor is obtained, and (i) the two-dimensional position of the navigation vehicle in the coordinate system based on the acoustic sensor and the acoustic pinger based on the three-dimensional SSBL acoustic sensor. The three-dimensional position of the running body in the coordinate system with the acoustic sensor as a reference is obtained from the three-dimensional direction of (3), and (j) the three-dimensional position of the running body in the coordinate system with the transponder as a reference. A method for detecting the position of an underwater vehicle, wherein the three-dimensional position of the body is converted into coordinates to obtain the three-dimensional position of the vehicle. 12. The position detecting method of the underwater vehicle according to claim 6, wherein the position of the acoustic sensor in the depth direction is obtained by a depth sensor built in the acoustic sensor.