JPH0861952A - Underwater vehicle, measuring buoy station, measuring device, and position measuring method and device for underwater vehicle - Google Patents

Abstract

(57) [Summary] [Purpose] Underwater navigation that can easily measure the position of the underwater vehicle with a small-scale facility without installing a large number of hydrophones or accurately mooring the buoy in place. A method for measuring the position of a running body is provided. [Structure] Depth information and clock information of the underwater vehicle 11 are transmitted by a Pinger signal, and the Pinger signals are received by a plurality of measurement buoy stations 12 and transmitted together with the position information of the measurement buoy station 12. The measuring device 15 receives those signals,
By obtaining the distance from the clock information, correcting the depth information, and locating based on the position information,
The position of the underwater vehicle 11 is measured.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and apparatus for measuring the position of an underwater vehicle necessary for easily measuring the position of the underwater vehicle and reconstructing a track in any sea area. The present invention also relates to an underwater vehicle, a measurement buoy station, and a measurement device used for the device.

[0002]

2. Description of the Related Art FIG. 11 is a block diagram showing a conventional position measuring method and apparatus (range system) of a fixed underwater vehicle. In the drawing, reference numeral 60 denotes an underwater vehicle that travels underwater while emitting a pinger sound by ultrasonic waves, 61 denotes a number of hydrophones (sonic wave detectors) that sense the pinger sound emitted by the underwater vehicle 60, and 62 denotes an underwater vehicle. A lead for connecting the hydrophone 61 and transmitting the obtained signal to the processing computer 63. By arranging the lead wires 62 that connect the plurality of hydrophones 61 in a plurality of rows (four rows in the drawing), the hydrophones 61 are arranged in a matrix on the seabed. Reference numeral 63 is a processing computer that processes acoustic data sensed by the hydrophones 61 arranged in a matrix and obtains a track of the underwater vehicle 60. The processing computer 63 is installed in a fixed station on land.

Next, the operation will be described. In the conventional underwater vehicle measurement apparatus having the above-described configuration, an ultrasonic signal from the underwater vehicle detected by the hydrophones 61 arranged in a matrix passes through a lead wire 62 that is a signal cable. It is sent to the processing computer 63. The processing computer 63 obtains the arrival time of the ultrasonic signal reaching each of the plurality of hydrophones 61, calculates the distance to the underwater vehicle 60 by calculating based on the speed of sound, calculates the position thereof, Was being measured.

For example, for simplicity, a case where the position of the underwater vehicle 60 is calculated using four hydrophones will be described. FIG. 12 shows a layout of the hydrophones H1 to H4 in a plane. In the figure, H1 to H4
Indicates hydrophones, each of which senses a pinger sound from the underwater vehicle 60. By the way, after the underwater vehicle 60 emits a pinger sound, the hydrophone H
The delay time corresponding to the speed of sound in water, that is, the propagation time of the pinger sound is required for 1 to H4 to detect this pinger sound. Therefore, the hydrophones H1 to H1
The time at which the H4 senses the pinger sound will differ depending on the distance to the underwater vehicle 60.

Here, an arbitrary combination of two hydrophones is selected and the difference in arrival time of those pinger sounds is obtained. For example, when the difference between the arrival times of the hydrophones H1 and H2 is obtained, if the sound velocity in the water is constant regardless of the location, the difference in the arrival time corresponds to the difference in the distance. Means these two hydrophones H
1, a locus drawn while keeping a constant distance difference from H2, that is, a hyperboloid R2-R having two hydrophones as focal points
1 will exist in any of the above. Similarly, by combining hydrophones H1 and H3, hyperboloids R3-R1
However, a hyperboloid R4-R3 is obtained by combining the hydrophones H3 and H4. Then, these hyperboloids R2-
The position of the underwater vehicle 60 can be obtained by obtaining the intersection of R1, R3-R1, and R4-R3 (the portion indicated by 65 in FIG. 12) (this method is called the hyperboloid method).

Since this method is generally inferior in accuracy, the clock is of an asynchronous type, but the underwater vehicle 60 is equipped with a pinger sound with an accurate ping transmission interval, and the underwater navigation is performed in advance by the hyperboloid method. The position of the body 60 is measured, and the ping arrival time is obtained from the position. After that, since the arrival of the next pinger sound can be predicted, the distance is obtained from the sound speed and the arrival time of the pinger sound, and the position of the underwater vehicle 60 is measured from the intersection of many circles.

[0007] In addition, there is an installation type position measuring method and apparatus shown in FIG. In FIG. 13, 13 is the sea surface, 63 is an anchor for mooring a hydrophone array to which a plurality of hydrophones 61 (two in the case of FIG. 2) are connected via a lead wire 62, and 64 is an anchor. A buoy for transmitting the pinger sound of the underwater vehicle 60 sensed by the hydrophone 61 to the ship 14 having the measuring device as a radio signal and pulling the hydrophone 61 upward so as to be arranged at a predetermined depth. .

In FIG. 13, two hydrophones 61 of a hydrophone array sense a pinger sound from an underwater vehicle 60, and the information is transmitted from a buoy 64 to a ship 14 having a measuring device. Then, the horizontal position information and the vertical plane (depth) of the underwater vehicle 60 are measured by the measuring device.
Information is required. The horizontal position information is obtained in the same manner as in the case of the fixed type. An example of how to obtain the vertical plane information will be described with reference to FIG.

The pinger signals transmitted from the underwater vehicle 60 are distances c and b from the underwater vehicle 60 to the hydrophones 61a and 61b connected to the hydrophone array.
Therefore, if the delay times are t ₁ and t ₂ , then c = C × t ₁ b = C × t ₂ where C is the speed of sound in water.

On the other hand, the distance a between the hydrophones 61a and 61b and the distance D between the sea surface 13 and the hydrophone 61a
Since u is known from the length of the lead wire 62, the depth Dt of the underwater vehicle 60 can be calculated by the following equation. Dt = Du + c · sin θ From the cosine theorem, cos α = (a ² + c ² −b ² ) / 2ac ∴α = cos ⁻¹ (a ² + c ² −b ² ) / 2ac θ = 90 ° -α

As described above, the depth of the underwater vehicle 60 and the distance between the underwater vehicle 60 and the buoy 64 can be obtained. Further, since the positions of the plurality of buoys 64 are fixed and measured in advance, the position of the underwater vehicle 60 can be calculated based on these information. In addition to this,
There is also a method of measuring the depth from the azimuth of the pulse from the underwater vehicle 60 that reaches the hydrophone 61. In this way, the wake was measured and evaluated.

[0012]

The conventional method and apparatus for measuring a fixed underwater vehicle shown in FIG. 11 require a large number of hydrophones 61 to measure and evaluate accurate wake data. The installation requires a huge amount of money and a large number of personnel, and has human and economical problems. further,
Because it requires vast oceans and facilities for its installation,
There were problems such as invading existing fishing rights.

[0013] In the conventional method and apparatus for measuring an underwater vehicle in a conventional installation type shown in FIG. 13, an anchor 63 is inserted after a precise installation position of a buoy 64 is measured, and a hydrophone is accurately positioned at that position. 61 must be installed and buoy 64
It took a lot of time to set up. Especially in the deep sea area,
There was difficulty in installing the buoy 64.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a method and an apparatus for measuring the position of an underwater vehicle which are constituted by small-scale facilities and do not require time and manpower for installation. The purpose is to gain.

[0015]

According to a first aspect of the present invention, there is provided a position measuring method for an underwater vehicle, wherein depth information of the underwater vehicle is measured by a depth sensor incorporated in the underwater vehicle. Is coded together with the time information of the clock device built in the underwater vehicle, a Pinger signal is generated based on the code, and the Pinger signal from the underwater vehicle is received by the receiving unit built in the measurement buoy station. Then, it is coded together with the position measured by the position measuring unit built in the measurement buoy station, and the signal is transmitted based on the code, and the signals from the plurality of measurement buoy stations are received by the receiving unit of the measuring device, Based on the time information of the underwater vehicle, the distance between the underwater vehicle and the measurement buoy station is obtained, and the distance is corrected by the depth information. Based on the location of the station, and measures the position of the domestic Hashikarada.

A position measuring device for an underwater vehicle according to a second aspect measures the depth information with a depth sensor having a built-in depth information, encodes the depth information together with time information of a built-in clock device, and uses the pinger based on the code. The underwater vehicle that generates the signal and the Pinger signal from the underwater vehicle,
Received by the built-in receiving unit, coded together with the position measured by the built-in position measuring unit, and a plurality of measurement buoy stations that transmit signals based on the code, and signals from the multiple measurement buoy stations by the receiving unit. Based on the time information of the underwater vehicle, the distance between the underwater vehicle and the measurement buoy station is obtained, the distance is corrected by the depth information, and the corrected distance and the measurement buoy are obtained. And a measuring device for measuring the position of the above-mentioned vehicle based on the position of the station.

According to a third aspect of the present invention, there is provided an underwater vehicle position measuring method, wherein depth information of the underwater vehicle is measured by a depth sensor built in the underwater vehicle, and the depth information is obtained. It is coded together with the time information of the clock device built in, the Pinger signal is generated based on the code, and the Pinger signal from the underwater vehicle is received by the receiving unit built in the measurement buoy station. It encodes with the position measured by the position measuring unit built in, transmits a signal based on the code, receives signals from the plurality of measuring buoy stations by the receiving unit of the measuring device, and Based on the time information, the distance between the underwater vehicle and the measurement buoy station is obtained, the distance is corrected by the depth information, and the distance is corrected based on the corrected distance and the position of the measurement buoy station. , The position of the vehicle is measured, and the command signal for the underwater vehicle is transmitted by the transmitter of the measuring device, and the command signal received by the receiver of the measuring buoy station is used as the measuring buoy station. A method for measuring the position of an underwater vehicle, characterized by causing the underwater vehicle to send a command to the underwater vehicle.

According to a fourth aspect of the present invention, in the method for measuring the position of an underwater vehicle, a command signal for the underwater vehicle is transmitted by a transmitting unit of the measuring device, and the command signal received by a receiving unit of the relay buoy is transmitted to the underwater vehicle. Let the transmission unit of the relay buoy station transmit,
The command is issued to the underwater vehicle and the signal from the measurement buoy station is relayed to the measurement device.

An underwater vehicle according to a fifth aspect of the present invention includes a timepiece device, a depth sensor for measuring depth, a signal processing unit for converting time information of the timepiece device and depth information of the depth sensor into a code, and With an ultrasonic transmitter that transmits an ultrasonic signal based on the output of the signal processing unit, an ultrasonic receiver that receives the command signal transmitted from the measurement buoy station or the relay buoy station, and the command signal The signal processing unit for controlling the underwater vehicle based on the above is provided.

A measurement buoy station according to a sixth aspect includes a receiving section for receiving a signal from an underwater vehicle, a position measuring section for measuring a position, an output of the receiving section and an output of the position measuring section. And a transmitter for transmitting a signal based on the code.

According to a seventh aspect of the present invention, there is provided a measuring device which receives a signal from a plurality of measurement buoy stations or a measurement buoy station relayed from the relay buoy station, and an underwater cruise from the measurement buoy station. Based on the time information of the body, the distance measurement unit for obtaining the distance between the underwater vehicle and the measurement buoy station,
Based on the output of the distance measuring unit, the distance correcting unit that corrects the depth information of the underwater vehicle from the measuring buoy station, and the output of the distance correcting unit and the position information from the measuring buoy station, And a processing unit for measuring the position of the running body.

[0022]

According to the first and second aspects of the present invention,
The depth information of the underwater vehicle is measured by the depth sensor built in the underwater vehicle, and the depth information is coded together with the time information of the clock device built in the underwater vehicle,
Generate a Pinger signal based on the code, receive the Pinger signal from the underwater vehicle by the receiving unit built in the measurement buoy station, along with the position measured by the position measuring unit built in the measurement buoy station. The signal is transmitted based on the code, and the signals from the plurality of measurement buoy stations are received by the receiving unit of the measuring device, and the underwater vehicle and the measurement are performed based on the time information of the underwater vehicle. The distance to the buoy station is obtained, the distance is corrected by the depth information, and the position of the vehicle is measured based on the corrected distance and the position of the measurement buoy station.

In the invention according to claim 3, the position of the underwater vehicle is measured, and the command signal for the underwater vehicle is transmitted by the transmission unit of the measurement device, and received by the reception unit of the measurement buoy station. The command signal is transmitted by the transmission unit of the measurement buoy station to command the underwater vehicle.

In the invention according to claim 4, a command is given to the underwater vehicle via a relay buoy station different from the measurement buoy station, and a signal from the measurement buoy station is relayed to the measurement device. .

In the underwater vehicle according to the fifth aspect, the signal processing unit converts the time information of the timepiece device and the depth information of the depth sensor into a code, and the ultrasonic transmitter outputs the output of the signal processing unit. Based on the command signal transmitted from the measurement buoy station or the relay buoy station, the ultrasonic wave signal is transmitted based on the ultrasonic signal, and the underwater vehicle is controlled by the signal processing unit based on the command signal.

In the measuring buoy station according to the sixth aspect, the transmitter codes based on the signal from the underwater vehicle and the output of the position measuring section, and transmits the signal based on this code.

In the measuring device according to the seventh aspect, the receiving unit receives signals from the plurality of measuring buoy stations or the measuring buoy station relayed from the relay buoy station, and the distance measuring unit causes the underwater navigation. Based on the time information of the running body, the distance between the underwater vehicle and the measurement buoy station is obtained, and the distance correction unit corrects the output of the distance measuring unit according to the depth information of the underwater vehicle, and the processing is performed. The unit measures the position of the running body based on the output of the distance correction unit and the position information from the measurement buoy station.

[0028]

【Example】

Example 1. FIG. 1 is a configuration diagram showing a method and apparatus for measuring the position of an underwater vehicle according to an embodiment of the present invention. This type of position measurement method and device may be referred to as a free range system. Here, the range is an idiom used in the US Navy, and means a facility for measuring and evaluating underwater vehicles. Free means that the measurement and evaluation facilities for the underwater vehicle and the like can be set freely and freely.

In FIG. 1, reference numeral 11 is provided with a precision timepiece 21 and a depth sensor 22 for measuring the depth. The timepiece information of the precision timepiece 21 and the depth information of the depth sensor 22 are coded and transmitted as a pinger sound by ultrasonic waves. It is an underwater vehicle that sails underwater. Reference numeral 121 denotes a hydrophone that receives a pinger sound emitted by the underwater vehicle 11 and converts it into an electric signal, and transmits a signal transmitted from the measuring device 15 as an ultrasonic pulse signal as necessary.
The hydrophone 121 performs a receiving operation when measuring the position of the underwater vehicle 11, and a transmitting operation when giving a command to the underwater vehicle 11.

122 is a signal cable for transmitting the signal of the hydrophone 121 to the measurement buoy station 12, 12 is a precision self-position measuring unit 125 for measuring the position, and the signal received by the hydrophone 121 and the precision self-position measuring unit 125 are provided. Is a measurement buoy station that transmits the position information of (1) to the measuring device 15 installed on the ship 14 and receives a command signal for the underwater vehicle 11. Reference numeral 13 denotes a water surface on which the measurement buoy station floats, and reference numeral 14 denotes a ship provided with the measurement device 15 and reconstructs the wake of the underwater vehicle 11 based on information from the plurality of measurement buoy stations 12.

FIG. 2 shows the underwater vehicle 11 of the present invention.
An example of the internal configuration of is shown. In the figure, reference numeral 111 denotes an ultrasonic transceiver that transmits an ultrasonic signal underwater and receives an external ultrasonic signal (command). The ultrasonic transceiver 111 includes a sonar transmitter 111a that generates a sonar transmission signal, a gate circuit 111b that transfers the output of the sonar transmitter 111a to the signal processing unit 111c based on the clock information, and a sonar transmission signal based on the clock information and the depth information. And encodes the phone 111f
The signal processing unit 111c that decodes the command signal received from outside with the microprocessor 23 and performs processing for controlling the underwater vehicle 11, transmits an ultrasonic signal (Pinger signal) to the outside, and from the outside Hydrophone 111 for receiving ultrasonic signals (command signals)
f, a transmission / reception switch 111e for switching between transmission operation and reception operation of the hydrophone 111f, and the hydrophone 1
Amplifier 111d that amplifies the signal that excites 11f and amplifies the signal detected by hydrophone 111f.
Composed of and.

Reference numeral 21 is a precision timepiece that provides time information. The precision timepiece 21 has a power supply 21 that supplies necessary power.
1. Voltage regulator 2 that stabilizes the output of power supply 211
12. an oscillator 213 for generating a signal serving as a clock reference based on the output of the stabilized voltage regulator 212;
A temperature compensation circuit 214 and a temperature compensation circuit 2 that perform temperature compensation on the output frequency of the oscillator 213 to eliminate a clock error
A divider circuit 215 for dividing the output of 14 into an appropriate frequency,
And a gate circuit 111b and an output buffer 216 for outputting the clock information obtained by the frequency dividing circuit 215 to the microprocessor 23.

22 is to change the water pressure into a voltage,
This is a depth (water pressure) sensor for detecting the depth of the underwater vehicle 11. 23 creates a code for modulating the ultrasonic signal based on the clock information obtained from the output buffer 216 and the depth information obtained from the depth sensor 22, and at the same time, decodes the signal received by the hydrophone 111f to respond. A command signal for controlling the underwater vehicle 11 is generated and sent to the control system of the underwater vehicle 11 via the signal processing unit 111c, and the feedback signal sent from the control system of the underwater vehicle 11 is processed. It is a microprocessor.

FIG. 3 shows the measuring buoy station 12 of the present invention.
An example of the internal configuration of is shown. 121 receives the Pinger signal (ultrasonic signal) emitted by the underwater vehicle 11,
A hydrophone (the same as the hydrophone 121 described with reference to FIG. 1) for transmitting a command signal to the underwater vehicle 11 and a power supply unit 123 for supplying power to each unit
Reference numeral 24 denotes a code which is coded based on the depth information and time information from the underwater vehicle 11 and the position information of the measurement buoy station 12 from the precise self-position measuring unit 125, processes the signal into a signal necessary for wireless transmission, and a data transmitting / receiving unit 126. And a signal processing unit for converting a signal received by the data transmission / reception unit 126 into a command signal.
radio navigation device using artificial satellites for
A precision self-position measuring unit 126 for calculating the position information of the measurement buoy station 12 itself converts an ultrasonic signal of the underwater vehicle 11 and a signal of its own position information into a radio signal, and the measuring device 15 or the relay buoy station 16 The data transmitting / receiving unit 127 transmits a command (command) signal from the measuring device 15 of the transmitting / receiving station, and radiates an output of the data transmitting / receiving unit to the space, and receives a radio signal from the measuring device 15. An antenna 128 is a transmission / reception switch for switching between transmission and reception in accordance with the receiving operation and the transmitting operation of the hydrophone 121.

When the command signal from the measuring device 15 is supplied to the underwater vehicle 11 through the relay buoy station 16 shown in FIG. 10, the transmitting / receiving antenna 127 is a transmitting antenna, and the data transmitting / receiving unit 126 is a data transmitting unit. become,
Further, the transmission / reception switch 128 becomes unnecessary and is omitted from FIG. Therefore, the hydrophone 121 has only a function of receiving the pinger signal emitted by the underwater vehicle 11, and the power supply unit 123 eliminates the power supply of the transmission / reception switch 128 among the power supplies supplied to each unit. Signal processing unit 12
4 is coded based on depth information from the underwater vehicle 11, time information, and position information of the measurement buoy station 12 from the precision self-position measuring unit 125, processes into a signal necessary for wireless transmission, and the data transmitting unit 126 It becomes the function to output to. The precise self-position measuring unit 125 performs the function as described above, and the data transmitting unit 126 converts the ultrasonic signal of the underwater vehicle 11 and the signal of the self-position information into a radio signal, and outputs the signal to the measuring device 15 or the relay buoy station 16. Function. Transmitting / receiving antenna 1
Reference numeral 27 denotes a transmission antenna that emits the output of the data transmission unit to the space. On the other hand, the transmission / reception switch 128 becomes unnecessary,
It can be deleted from the above description.

FIG. 4 shows an example of the internal structure of the measuring device 15 of the present invention. 151 receives a signal from the measurement buoy station 12 or the relay buoy station 16, or
5 is a transmitting / receiving antenna for transmitting a command signal to the measurement buoy station 12 or the relay buoy station 16; 152, a signal from the transmitting / receiving antenna;
A transmitter / receiver that receives the signal from the device and outputs it as a transmission signal, 1
Reference numeral 53 decodes the signal received by the transceiver 152, decodes the clock information and depth of the underwater vehicle 11, and measures the buoy station 12
Of each measurement buoy station 12 based on the position of
Code conversion processing for calculating the distance to the vehicle, real-time reconstruction of the track and measurement of the track, and transmitting the command signal input from the input unit 157 to the measurement buoy station 12 or the relay buoy station 16 by radio waves. A computer including a precision clock for performing the following operations is a vertical surface of the underwater vehicle 11,
An image display unit such as a CRT display for displaying the horizontal trajectory map in real time and displaying the position and the like of the measurement buoy station 12 if necessary is provided with depth information of the underwater vehicle 11 transmitted from each measurement buoy station 12. , Clock information,
A disk unit for recording the position information of the measurement buoy station 12, an output signal to the image drawing unit 156 such as an XY plotter calculated by the computer 153, a command signal at the time of remote control, and the like, and further storing a program, a disk unit, a cassette tape , An information recording medium such as a floppy disk, 15
6 is an image drawing unit such as an XY plotter that draws track data and the like of the video display unit 154 as necessary, and 157 is an input used for data input, system operation and command signal transmission to the underwater vehicle 11. It is a department.

Next, the operation will be described with reference to the drawings. The underwater vehicle position measuring method and apparatus in this embodiment determines the position of the underwater vehicle 11, transmits a command to the underwater vehicle 11, and controls the underwater vehicle 11. Here, first, the case where the position of the underwater vehicle 11 is determined will be described.

The underwater vehicle 11 transmits a pinger signal that encodes clock information and depth information while traveling underwater. The precision clock 21 generates clock information serving as a reference for the modulation of the pinger signal. The precision clock 21 of the underwater vehicle 11 has been accurately initialized (synchronized) with the precision clock incorporated in the computer 153 of the measuring device 15, and the clock information of the underwater vehicle 11 and the measurement device 15 The clock information matches exactly.

The depth information is generated by the depth sensor 22. The depth sensor 22 is a water pressure sensor, and since the depth information has a deep relationship with the water pressure, the depth can be measured by measuring the value of the water pressure. Voltage 0 if depth is 0m
The depth can be obtained by calibrating the sensitivity of the depth sensor 22 in advance, such as 1 V for V and depth xm.

The microprocessor 23 stores the clock information,
Obtained from the output buffer 216 of the precision timepiece 21 and depth information from the depth sensor 22. Based on these,
Create code for Pinger signals. This code indicates that the pinger signal is transmitted from the underwater vehicle 11 to the buoy station 12
It is for finding the time to reach and measuring the distance, and for knowing its depth. The depth can be known directly from the code, and if the propagation time is known from the clock information, the distance between them can be obtained.

The clock information is coded as shown in FIG. 5, for example. In the figure, the pinger signal 35 transmitted from the underwater vehicle 11 is a signal coded at intervals of 1 second and having a repetition period of 15 seconds. That is, according to the clock information output by the precision clock 21 of the underwater vehicle 11 that coincides with the reference time of the measuring device 15, the repetition cycle is set to 15 seconds, and 0, 4, 5, 8, 9, 10 seconds. For example, an ultrasonic signal of 21 kHz is transmitted to the eyes, and an ultrasonic signal of 20 kHz is transmitted otherwise. In FIG.
High bar with 21kHz pulse, low bar with 20kHz
means a pulse of z. According to the Pinger signal of FIG.
Since the speed of sound in water is about 1500 m / s, 1500 x
It is possible to measure distances up to 15 = 22500 m.

The depth information is coded, for example, as shown in FIG. DP as one of the coding methods
There is a method called SK (Differential Phase Shift Keying). In this figure, the target number represents the type and unique number of the vehicle, and the ping number represents the pinger information. Then, following the ping number, the depth information is coded in 6 bits and transmitted.

Underwater vehicle 11 coded in this way
Is transmitted by the hydrophone 121 of a plurality of measurement buoy stations after propagating in water. Figure 7
A plurality of measurement buoy stations shown in (a) (the number of measurement buoy stations 12 is 3 in the following description) 12a, 12b, 12c
3, the ultrasonic signal of the underwater vehicle 11 received by the hydrophone 121 shown in FIG. 3 is converted into an electric signal and then sent to the signal processing unit 124 via the signal cable 122 and the transmission / reception switch 128. To be

The precision self-position measuring unit 125 is, for example, G
By using artificial satellites for PS (Global Positioning System), measurement buoys 12a, 12b, 12c
Seek the location information of. GPS refers to multiple artificial satellites (G
By receiving the radio waves radiated from (PS satellite),
This is a system that can immediately determine the position of the receiving point. The GPS satellite has a built-in extremely accurate cesium atomic clock, and time information is sent based on this clock. Also, the orbit information of the GPS satellite is sent as a navigation message. By receiving the signal from this GPS satellite and comparing the time information of the clock of the receiver whose time coincides with the clock of the GPS satellite and the time information of GPS, the arrival time of the radio wave can be known, Distance can be obtained. In addition, since the position of a GPS satellite is also obtained from its orbit information, an accurate position of the receiver can be obtained by processing a plurality of GPS satellites.

The GPS receiver has a high-precision clock without using the GPS satellite time information, inputs clock information as an initial value, and obtains the position from the orbit information included in the satellite position message. There is a simple method.

The position is calculated by solving the following equation. ((xx ₁ ) ² + (yy ₁ ) ² + (zz ₁ ) ² ) ^1/2 + T = R ₁ ((xx ₂ ) ² + (yy ₂ ) ² + (zz ₂ ) ² ) ^1/2 + T = R ₂ ((xx ₃ ) ² + (yy ₃ ) ² + (zz ₃ ) ² ) ^1/2 + T = R ₃ ((xx ₄ ) ² + (yy ₄ ) ² + (zz ₄ ) ² ) ^1/2 + T = R ₄ where x, y, z: coordinates of USER position (unknown) x _i , y _i , z _i (i = 1, 2, 3, 4): coordinates of satellite position (known, T: USER CLOCK error (unknown number) Ri (i = 1,2,3,4): pseudo distance to each satellite (measured value)

According to GPS, the measurement buoy 12 is on the sea surface 13
It is possible to obtain an accurate position even if the measurement array is suspended and is affected by drift due to tidal current, wind, etc. during measurement and loses an appropriate measurement arrangement.

The signal processing unit 124
The ultrasonic signal (depth information and time information) of the underwater vehicle 11 obtained from 1 and the position information of the measurement buoy station 12 itself are coded, processed into a signal necessary for wireless transmission, and the data transmission / reception unit 126 Transfer to. The data transmitting / receiving unit 126 transmits this signal from the transmitting / receiving antenna 127 to the measuring device 1 of the transmitting / receiving station.
5 is sent. In addition, for the measuring device 15,
It may be transmitted via the relay buoy station 16 in FIG.

In the measuring device 15, the signal transmitted by being relayed from the measuring buoy station 12 or the relay buoy station 16 is received by the transmission / reception antenna 151 and demodulated by the transceiver 152. The demodulated signal is decoded by a computer 153 including a precision clock therein, and as described below, each measuring buoy station 12a, 12b, 1 based on the position of the measuring buoy station.
It calculates the distance between the underwater vehicle 11 and the underwater vehicle 2c, decodes the depth, and performs real-time wake reconstruction and wake measurement.

The depth can be directly obtained by decoding the code shown in FIG. 6, but the distance between the measuring buoy stations 12a, 12b, 12c and the underwater vehicle 11 cannot be directly obtained. , Based on the clock information, by the method described below.

As described above, the underwater vehicle 11 transmits the pinger pulse signal 35 shown in FIG. These signals are received by the measurement buoy stations 12a, 12b, and 12c, respectively, and sent to the measurement device 15. Then, the comparison is made based on the time 31 of the measuring device 15. For example,
As shown in FIG. 5, the Pinger pulse signal 32 of the underwater vehicle 11 that has reached the measurement buoy station 12a is
Is delayed by two seconds with respect to the time at which the measurement device 15 is transmitted, that is, the reference time 31 of the measuring device 15, the ping- ger pulse signal 33 of the underwater vehicle 11 arriving at the measuring buoy station 12 b is also delayed by one second, and It is assumed that the pinger pulse 34 of the underwater vehicle 11 that has reached the station 12c is also delayed by 3 seconds. Here, the time consumed for transferring the data from the measurement buoy station 12 to the measurement device 15 is not considered as the allowable error range. Each of the measurement buoy stations 12a,
Since the above-mentioned delay times of 12b and 12c are propagation times in the water from the underwater vehicle 11 to the buoy, the distance can be obtained if the sound speed in the water is known.

To obtain the above-mentioned propagation time (delay time), specifically, the following is done. Underwater vehicle 1 that has reached the measurement buoy station 12a based on the reference time of the measuring device 15
When the 1 pinger pulse signal 32 is measured, if a pulse of a high bar (21 kHz) is received first without receiving anything, this is a pulse of 0 seconds,
The time of the measuring device 15 at this time may be obtained. However, depending on the marine (underwater) environment, the pulse of the first high bar may not be received. In this case, the pulse of the first high bar may be 0 second, or 4 seconds, 5 seconds, or 8 seconds.
It cannot be determined whether it is seconds, 9 seconds or 10 seconds. Similarly, when a pulse of a low bar (20 kHz) is received next to the first high bar, it cannot be determined whether the pulse is 1 second, 6 seconds, or 11 seconds. In such a case, counting the number of low bars, and knowing that the pulse of the high bar was followed by the pulse of the low bar three times, and then the pulse of the high bar was received, these pulses start from 0 seconds. It can be determined that the pulse is up to 4 seconds, and the delay time with respect to the reference time can be obtained. Note that once the transmission time is known, the delay times can be subsequently obtained from the synchronized pinger sounds.

The delay time can also be obtained by correlating the pulse train received by the measurement buoy station 12 with the pulse train (35 in FIG. 5) corresponding to the reference time. That is, the correlation may be obtained while changing the delay time, and the value when the correlation is highest among them may be used as the delay time. Further, the transmission time may be coded into a binary number similarly to the depth information and transmitted every second. Further, pattern recognition may be used.

As described above, the propagation time can be obtained by combining the signals by the combination of the Pinger frequency, the phase, the pulse width, the pulse interval, and the like.

Next, an example of a method for measuring the position of the underwater vehicle 11 will be described with reference to FIG. In FIG. 7, the propagation buoyant signal obtained by the above-described method is used for the Pinger pulse signal received by the measurement buoy station 12a at the position of the point A, the measurement buoy station 12b at the position of the point B, and the measurement buoy station 12c at the point C. Times (delay times) are represented by t ₁ , t ₂ , and t ₃ , respectively.
And At this time, each measurement buoy station 12a, 12b, 12
The distance between c and the underwater vehicle 11 is given by the following equation.

R _i = C × t _i ± E _i (i = 1, 2, 3,... N) (1) where R _{i is the} i-th measurement from the underwater vehicle 11 Approximate calculation distance to buoy (m) C: Underwater sound velocity (m / sec) t _i : Propagation time (sec) from underwater vehicle 11 to measurement buoy 12 E _i : From underwater vehicle 11 to measurement buoy This is the total distance error.

By the way, the total distance error E _i is given by the following equation: E _i = B _e + t _e + R _e + H _e (2)

[0058] Here, B _e is a self-position measurement error of the measuring buoy stations. That is, the error of clock information and orbit information from the satellite, the error due to propagate the ionospheric and tropospheric, comprehensive error due to error and intentional errors such as multipath error is B _e. In order to correct this error _Be ,
There is a self-position measurement method using Differntial GPS, which improves the accuracy and enables highly accurate geo-positioning. In this method, an error measured at a known point (reference station) is transmitted to an unknown measurement point, and measurement accuracy is improved by updating a measurement value at each measurement point.

[0059] Further, T _e is the synchronization error watches mounted on the measuring device for a timepiece and receiving station mounted on underwater vehicle 11.

Further, R _e is a Raybus error. That is, the ultrasonic signal does not propagate linearly in the sea, the sound velocity draws an arc due to water temperature, salt content, water pressure, etc., and it is an error due to refraction in layers with different water qualities.

The error caused by the circular velocity of the sound speed can be corrected if the structure of the medium that changes the sound speed is known. Sound velocity (C: m / sec), water temperature (T: ° C),
Salinity (S: per mille 1/1000), water depth (D: m)
In an example of the literature, the speed of sound is represented by the following equation. C = 1448.96 + 4.951T-5.304 × 10 ^-2 T ² + 2.374 × 10 ^-4 T ³ +1.340 (S-35) + 1.630 × 10 ^-2 D + 1.657 × 10 ^-7 D ² -1.025 × 10 ^-2 T (S-35) -7.139 × 10 ^-13 TD ³ (3) On the other hand, the error due to refraction can be obtained from Snell's law. In other words, sound waves are refracted in a medium with a change in the speed of sound, and the amount of refraction is based on Snell's law, so if the actual environment such as the refractive index in water is known, the distance based on the measured time will be different from the actual distance. The error can be calculated.

H _e is a hydrophone position error, that is, an error in which the hydrophone is displaced with respect to the position of the measurement buoy station 12 due to a power flow or the like. Measuring buoy 12
Has a hilophone suspended by a signal cable 122 under a float buoy. In this case, the position of the hydrophone when there is no influence of wind waves and ocean currents is the position of the float buoy on which the GPS is mounted, and the depth is the length of the signal cable 122 suspended on the float buoy. . However, when there is an influence of wind waves and ocean currents, the signal cable 122 is not necessarily in the vertical direction, and is diagonal,
The position of the hypophone at the end of the signal cable deviates from the position of the measurement buoy station (float buoy) 12. Hydrophone position error refers to this.

Next, an example of a position calculation method based on the distance calculation formula (1) will be described with reference to FIG. In FIG.
The ultrasonic signal transmitted from the underwater vehicle 11 propagates in the sea, reaches the point A after t ₁ second to the measurement buoy station 12a, and reaches the point B after t ₂ seconds to the measurement buoy station 12b. And reaches the point C after t ₃ seconds for the measurement buoy station 12c. Therefore, the underwater vehicle 11 and the measurement buoy station 1 at point A
Distance R _1, the distance R ₃ of the measuring buoy station 12c distance R _2, C point of the measurement buoy station 12b at the point B with 2a is given by the following equation.

R ₁ = C × t ₁ (4) R ₂ = C × t ₂ (5) R ₃ = C × t ₃ (6)

By the way, as shown in FIG. 8, the underwater vehicle 11 and the hydrophone 121 receiving the Pinger signal are
Since they are not always at the same depth, the distances R ₁ , R ₂ and R ₃ obtained by the above formulas (4), (5) and (6) are apparent horizontal distances R ′, It is different from the horizontal distance R required to determine the position of the body 11. Here, the apparent horizontal distance R ′ is the depth Dt of the underwater vehicle 11 obtained from the depth information and the depth Du of the hydrophone of the measurement buoy station 12.
The distance (Dt-Du) and the horizontal distance R are the hypotenuses of a right-angled triangle having two sides, and thus the horizontal distance R can be obtained by the following formula. R = ((R ') ^2- (Dt-Du) ² ) ^1/2 ... (7)

Based on the horizontal distances R ₁ , R ₂ , R ₃ corrected by equation (7) and the total error E determined by equation (2), the underwater vehicle 11
Find the position of. When there is no total error E, any two measurement buoy stations (for example, a combination of 12a and 12b) are taken, and the horizontal distances R ₁ and R ₂ are defined as radii around the measurement buoy stations 12a and 12b, respectively. The position of the underwater vehicle 11 is determined by drawing a circle and finding its intersection (this method is called a spherical method).

However, in actuality, since there is a total error E, the intersection of the horizontal distances R ₁ and R ₂ and the actual position of the underwater vehicle 11 have an error of E, so that an accurate position can be obtained. Can not. Therefore, as shown in FIG. 7 (b), a circle is drawn using the distances R ₁ , R ₂ , and R ₃ from the three measurement buoy stations, and at that time, a finite area created by the circles not intersecting at one point The triangle (error triangle) is converged by correcting E (for example, the bend of the ray path) so that its area is minimized, and the position of the underwater vehicle 11 is finally determined.

As described above, the measuring device 15 can determine the horizontal position and the depth of the underwater vehicle 11 in real time. FIG. 9A is a diagram showing an example of a vertical wake obtained by plotting the depth of the underwater vehicle 11 thus obtained. The horizontal axis represents the traveling time, and the vertical axis represents the traveling depth. In the figure, a circle mark on the wake 54 of the underwater vehicle 11 indicates a position after x hours, and a cross mark indicates the last position of the cruise. The wake 54 of the underwater vehicle 11 is
Indicates that it started cruising from the water surface (depth 0), then rapidly infiltrated, and finished cruising XX hours after reaching a certain depth (between Y and YY).

FIG. 9 (b) is a horizontal wake map of the underwater vehicle 11 in which the vertical axis and the horizontal axis of the rectangular coordinates indicate the horizontal distance, and both axes indicate the cruising distance. The scale (Z, yard) is graduated. The vertical and horizontal axes form a horizontal plane. It is the same as in the case of FIG. 5 (a) that the circle mark on the track 54 of the underwater vehicle 11 in the figure indicates the position after x hours, and the x mark indicates the last position of the cruise.

Next, a case where a command is given to the underwater vehicle 11 to control it will be described. The command is input from the input unit 157 of the measuring device 15 as necessary, and is converted into a predetermined code by the computer 153.
Sent.

The command signal from the measuring device 15 is received by the measuring buoy station 12 or the relay buoy station 16. When the command signal is received from the measuring buoy station 12 shown in FIG. Is transmitted to the water as an ultrasonic signal by the hydrophone 121 via the signal processing unit 124 and the transmission / reception switch 128 of the device. Also, when performing from the relay buoy station 16 shown in FIG.
It is transmitted into the water as an ultrasonic signal by the hydrophone 164 via the signal processing unit 163 of the device.

The ultrasonic signal from the measuring buoy station 12 or the relay buoy station 16 is received by the hydrophone 111f of the underwater vehicle 11 shown in FIG.
e, and is input to the signal processing unit 111c via the amplifier 111d. The signal processing unit 111c sends this signal to the microprocessor 23, decodes the code, and generates a corresponding command signal. The microprocessor 23 sends it to a control system (not shown) of the underwater vehicle 11 via the signal processing unit 111c. In this way, the control system of the underwater vehicle 11 operates by the command input by the measuring device 15, and the underwater vehicle 11 is controlled.

As described above, the underwater vehicle 11 is connected to the measuring device 1
By controlling at any time from 5, compared with the conventional method in which the motion of the underwater vehicle 11 is programmed in advance, for example, the measurement buoy station 12 is deviated by the sea current, wind wave, etc. during measurement, Even if measurement becomes impossible, the underwater vehicle 11 can be returned to a predetermined area, and efficient operation of measurement can be achieved. In addition, underwater vehicle 1
It is also possible to point 1 under a specific marine environment and measure under that condition.

When the underwater vehicle 11 is fired at an underwater vehicle target (not shown) and measured using the present invention,
Before the measurement is completed, the cruising time of the underwater cruising target may end and rise. In such a case, the underwater vehicle 11 can be stopped or continued by a command, and efficient operation of measurement can be achieved.

As described above, by coding the clock information and the depth information in the pingers of the underwater vehicle 11, the distance to the measurement buoy station 12 can be obtained accurately, and the measurement buoy can be measured by GPS. Since the position of the station 12 can be determined accurately, the measuring device 15 can determine the position of the underwater vehicle 11 accurately.

Further, since the measuring buoy station 12 has a built-in precision self-position measuring unit 125, unlike the conventional buoy, there is no need for an accurate position setting and an operation of accurately fixing the position to the seabed. 12 can be installed and recovered in a very short time. Further, since the measurement buoy station 12 is of a float type, it can be used in a sea area of any water depth.

Example 2. Although the command signal is transmitted to the underwater vehicle 11 via the measurement buoy station 12 in the above embodiment, it may be transmitted via the relay buoy station 16. The relay buoy station 16 floats on the water surface 13 like the measurement buoy station 12. The relay buoy station 16
Unlike the measurement buoy station 12, it has a function of transmitting a command signal to the underwater vehicle 11 without receiving a pinger signal from the underwater vehicle 11. In addition, measurement buoy station 12
When the measurement device 15 and the measurement device 15 are separated from each other, a relay function of a radio signal may be provided.

FIG. 10 shows a block diagram of the relay buoy station 16. The basic operation is the same as when the measurement buoy station 12 receives a command signal. The transmission / reception antenna 161 receives the command signal from the measuring device 15, the data transmission / reception unit 162 demodulates it, and the signal processing unit 163 changes to a predetermined code. Then, the hydrophone 164 converts the command signal into an ultrasonic signal. Send underwater. On the other hand, the transmission / reception antenna 161 receives the radio signal from the measurement buoy station 12 and amplifies the signal by the signal processing unit 163.
It relays by transmitting again from 61. here,
Size of transmitting / receiving antenna 161, hydrophone 164
Can be arbitrarily selected according to the scale of the relay buoy station 16.

When a small measuring buoy station 12 is used, since the effective length of the transmitting / receiving antenna 127 is short, the measuring device 1
5 cannot be received. Therefore, the distance between the measuring device 15 and the measuring buoy station 12 could not be increased. Also, when transmitting underwater after receiving a command, the underwater vehicle 11 may not be able to receive the signal due to low energy. On the other hand, if the relay buoy station 16 of this embodiment is used, the number of buoys is small, the efficiency is high, and
The command can be reliably transmitted.

Similarly, the measuring buoy station 12 and the measuring device 1
If the distance from the measurement buoy station 5 is large, the signal transmitted from the measurement buoy station 12 may not be received by the measurement device 15. In such a case, the problem can be solved by relaying the radio signal, and the underwater vehicle 11 can be measured in a wide area.

[0081]

The invention according to claim 1 and claim 2 determines the distance between the underwater vehicle and the measurement buoy station by coding the depth information and the time information in the Pinger signal from the underwater vehicle. Since the position of the measurement buoy station is calculated by the position measurement unit of the measurement buoy station, the position of the underwater vehicle can be accurately measured by the buoy-type measurement method and device that can be easily installed.

According to the third aspect of the present invention, the command is transmitted from the measuring device to the underwater vehicle and is controlled, so that the position measuring method of the underwater vehicle can be efficiently operated.

According to the fourth aspect of the present invention, the command issued from the processing device to the underwater vehicle is transmitted via the relay buoy station, so that the distance between the processing device and the relay buoy station can be increased. The command can be transmitted efficiently and the command can be transmitted to the underwater vehicle reliably, and the reliability can be improved. On the other hand, when the signal of the measurement buoy station is relayed to the processing device, it is possible to measure the underwater vehicle in a wide area.

[Brief description of drawings]

FIG. 1 is a diagram showing a configuration of a first embodiment of a position measuring method and device for an underwater vehicle according to the present invention.

FIG. 2 is a diagram showing a configuration of a first embodiment of the underwater vehicle according to the present invention.

FIG. 3 is a diagram showing a configuration of a first embodiment of a measurement buoy station according to the present invention.

FIG. 4 is a diagram showing a configuration of a first embodiment of a measuring apparatus according to the present invention.

FIG. 5 is an explanatory diagram for obtaining a delay time of a pinger pulse according to the present invention.

FIG. 6 is a diagram showing an example of encoding a Pinger pulse according to the present invention.

FIG. 7 is an explanatory diagram for obtaining the position of the underwater vehicle according to the present invention.

FIG. 8 is an explanatory diagram for obtaining a horizontal distance according to the present invention.

FIG. 9 is a diagram showing an example of reconstruction of a wake of an underwater vehicle according to the present invention.

FIG. 10 is a diagram showing a configuration of a second embodiment of the relay buoy station according to the present invention.

FIG. 11 is a diagram showing a configuration of a conventional position measuring method and device for an underwater vehicle.

FIG. 12 is an explanatory diagram for obtaining a horizontal position by a conventional method and apparatus for measuring the position of an underwater vehicle.

FIG. 13 is an explanatory diagram for obtaining a depth by a conventional underwater vehicle position measuring method and apparatus.

FIG. 14 is a diagram showing another configuration of a conventional underwater vehicle position measuring method and apparatus.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 11 Underwater vehicle 111 Ultrasonic transceiver 12 Measurement buoy station 121 Hydrophone 125 Precise self-position measuring unit 15 Measurement device 16 Relay buoy station 21 Precision clock device 22 Depth sensor

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Takashi Nutahara 1371 Funakura-cho, Yokosuka-shi, Kanagawa Room 310, Koei Mansion (72) Inventor Shigeharu Kawai, 345 Kamimachi-ya, Kamakura-shi, Kanagawa Mitsubishi Precision Co., Ltd. (72) Inventor ▲ Takahashi ▼ Hideyuki Toranomon 1-chome, Minato-ku, Tokyo Oki Electric Industry Co., Ltd. (72) Inventor Kajiyama, 781 J.R.S.K., Yoshiyoshi-cho, Kohoku-ku, Yokohama-shi, Kanagawa Machine Co., Ltd. (72) Inventor Kiyoumi Kojima Kiyoshi Sea Kanagawa-ku Yokohama City Kohoku Ward 781 Shinyoshida-cho JRC Special Machine Co., Ltd.

Claims (7)

[Claims] 1. A position measuring method of an underwater vehicle, wherein the position of the underwater vehicle is measured by processing by a measuring device based on information from a plurality of measurement buoy stations, wherein depth information of the underwater vehicle is provided. Is measured by a depth sensor built in the underwater vehicle, the depth information is coded together with the time information of a clock device built in the underwater vehicle, and a Pinger signal is generated based on the code, The Pinger signal from the mid-water vehicle is received by the receiving unit built in the measurement buoy station, coded together with the position measured by the position measuring unit built in the measurement buoy station, and the signal is transmitted based on the code. , Receiving signals from the plurality of measurement buoy stations by the receiving unit of the measurement device, based on the time information of the underwater vehicle,
Obtain the distance between the underwater vehicle and the measurement buoy station, correct the distance with the depth information, and measure the position of the vehicle based on the corrected distance and the position of the measurement buoy station. A method for measuring the position of an underwater vehicle, characterized by: 2. A position measuring device for an underwater vehicle, which measures the position of the underwater vehicle by processing by a measuring device based on information from a plurality of measurement buoy stations, wherein a depth sensor incorporating depth information is used. By measuring the depth information and coding the time information of the built-in clock device together with the time information of the built-in clock device, the underwater vehicle that generates a Pinger signal based on the code, and the Pinger signal from the underwater vehicle by the built-in receiving unit. A plurality of measurement buoy stations that receive and code with the position measured by the built-in position measurement unit and transmit signals based on the above codes, and signals from the plurality of measurement buoy stations are received by the reception unit and The distance between the underwater vehicle and the measurement buoy station is calculated based on the time information of the medium vehicle, and the distance is corrected by the depth information. And a measuring device for measuring the position of the vehicle based on the position of the measuring buoy station. 3. A method for measuring the position of an underwater vehicle, in which the position of the underwater vehicle is measured by processing by a measuring device based on information from a plurality of measurement buoy stations, wherein depth information of the underwater vehicle is provided. Is measured by a depth sensor built in the underwater vehicle, the depth information is coded together with the time information of a clock device built in the underwater vehicle, and a Pinger signal is generated based on the code, The Pinger signal from the mid-water vehicle is received by the receiving unit built in the measurement buoy station, coded together with the position measured by the position measuring unit built in the measurement buoy station, and the signal is transmitted based on the code. , Receiving signals from the plurality of measurement buoy stations by the receiving unit of the measurement device, based on the time information of the underwater vehicle,
Obtain the distance between the underwater vehicle and the measurement buoy station, correct the distance with the depth information, and measure the position of the vehicle based on the corrected distance and the position of the measurement buoy station. At the same time, the command signal for the underwater vehicle is transmitted by the transmitter of the measuring device, and the command signal received by the receiver of the measuring buoy station is transmitted by the transmitter of the measuring buoy station. A method for measuring the position of an underwater vehicle, characterized by instructing a medium vehicle. 4. A command signal for an underwater vehicle is transmitted by the transmitter of the measuring device, and the command signal received by the receiver of the relay buoy station is transmitted by the transmitter of the relay buoy station, and the underwater navigation is performed. 4. The method for measuring the position of an underwater vehicle according to claim 3, wherein a command is given to the running body and a signal from the measurement buoy station is relayed to the measuring device. 5. A timepiece device, a depth sensor for measuring a depth, a signal processing unit for converting time information of the timepiece device and the depth information of the depth sensor into a code, and an ultrasonic wave based on the output of the signal processing unit. An ultrasonic wave transmitter that transmits a signal, receives an instruction signal transmitted from the measurement buoy station or a relay buoy station, and controls the underwater vehicle based on the instruction signal. An underwater vehicle including the signal processing unit. 6. A receiving unit for receiving a signal from an underwater vehicle, a position measuring unit for measuring a position, and coding based on the output of the receiving unit and the output of the position measuring unit, and based on the code. A measuring buoy station with a transmitter for transmitting signals. 7. A distance between the underwater vehicle and the measurement buoy station is determined based on a receiving unit that receives signals from a plurality of measurement buoy stations and time information of the underwater vehicle from the measurement buoy station. The distance measuring section to be obtained respectively, the output of the distance measuring section, the distance correcting section for correcting the output of the underwater vehicle from the measuring buoy station, the output of the distance correcting section and the measuring buoy station. A measuring device comprising: a processing unit that measures the position of the above-mentioned vehicle based on position information.