JPH10221447A - How to measure the position of objects on the water floor - Google Patents
How to measure the position of objects on the water floorInfo
- Publication number
- JPH10221447A JPH10221447A JP9038319A JP3831997A JPH10221447A JP H10221447 A JPH10221447 A JP H10221447A JP 9038319 A JP9038319 A JP 9038319A JP 3831997 A JP3831997 A JP 3831997A JP H10221447 A JPH10221447 A JP H10221447A
- Authority
- JP
- Japan
- Prior art keywords
- water
- mobile station
- measuring
- underwater
- measure
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Position Fixing By Use Of Radio Waves (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
(57)【要約】
【目的】水中の物体に特別な加工を施す必要がなく、簡
単に水上から水底の物体の位置の検出を行うことのでき
る、水底の物体の位置の計測方法を提供することを目的
とする。
【構成】水上の移動局の位置を、人工衛星を利用して観
測し、移動局から水底に向けて超音波を扇状に照射し、
この超音波の反射を計測して水底の物体を計測する、水
底物体の位置の計測方法を特徴としたものである。
(57) [Summary] [Object] To provide a method of measuring the position of an underwater object, which can easily detect the position of an underwater object from above the water without requiring any special processing on the underwater object. The purpose is to: [Constitution] Observe the position of the mobile station on the water using artificial satellites, radiate ultrasonic waves from the mobile station toward the bottom of the water,
The present invention is characterized by a method of measuring the position of a water bottom object by measuring the reflection of the ultrasonic wave and measuring the object on the water bottom.
Description
【０００１】[0001]
【産業上の利用分野】本発明は、海底、湖底などの水底
に存在する物体の位置を、水上より瞬時に計測する方法
に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for instantaneously measuring the position of an object existing on the water floor such as the sea bottom or the lake bottom from the water.
【０００２】[0002]
【従来の技術】例えば海底管を敷設する場合、その位置
を海上から常に把握しなければならない。そのために従
来は海底管の先端にブイを結び付け、海面に浮かんだブ
イの位置を海上でトランシットなどで測量する方法が一
般的であった。2. Description of the Related Art For example, when laying a submarine pipe, its position must always be known from the sea. Conventionally, therefore, a method of connecting a buoy to the tip of a submarine pipe and measuring the position of the buoy floating on the sea surface with a transit or the like on the sea has been generally used.
【０００３】[0003]
【発明が解決しようとする問題点】しかしブイを測量す
るような従来の水底の物体の位置の計測方法にあって
は、次のような問題点がある。 ＜イ＞水深が大きいと、海底の海底管の位置と、海面に
浮かんだブイの位置と大きくずれてしまし、正確な位置
を測量することができない。 ＜ロ＞海底管の先端など、測量する対象にブイを取り付
ける作業、回収する作業に多大の手数を要する。 ＜ハ＞ダイバーが作業を補助しなければならない場合が
多く、荒天時の安全性の問題があった。 ＜ニ＞以上のような問題は、海底管の敷設に限らず、海
底、水底に設置した物体の位置を計測する場合に同様に
発生した。However, the conventional method of measuring the position of an object on the bottom of the water such as a buoy has the following problems. <B> If the water depth is large, the position of the submarine pipe on the seabed will greatly deviate from the position of the buoy floating on the sea surface, making it impossible to measure the exact position. <B> A great deal of work is required to attach and collect the buoy to the object to be surveyed, such as the tip of a submarine pipe. <C> In many cases, divers must assist the work, and there was a problem of safety in stormy weather. <D> The above-mentioned problem is not limited to the laying of submarine pipes, but similarly occurs when measuring the position of an object installed on the seabed or waterbed.
【０００４】[0004]
【本発明の目的】本発明は上記したような従来の問題を
解決するためになされたもので、水中の物体に特別な加
工を施す必要がなく、簡単に水上から位置の検出を行う
ことのできる、水底の物体の位置の計測方法を提供する
ことを目的とする。SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned conventional problems, and does not require any special processing on an underwater object, and can easily detect a position from above the water. It is an object of the present invention to provide a method for measuring the position of an object on the bottom of a water, which can be performed.
【０００５】[0005]
【問題点を解決するための手段】上記のような目的を達
成するために、本発明の水底の物体の位置の計測方法
は、水上の移動局の位置を、人工衛星を利用して観測
し、移動局から水底に向けて超音波を扇状に照射し、こ
の超音波の反射を計測して水底の物体を計測する、水底
物体の位置の計測方法を特徴としたものである。Means for Solving the Problems In order to achieve the above object, a method for measuring the position of an underwater object according to the present invention uses a satellite to observe the position of a mobile station on water. The present invention is characterized by a method of measuring the position of an underwater object by irradiating an ultrasonic wave from a mobile station toward the underwater in a fan shape and measuring the reflection of the ultrasonic wave to measure an underwater object.
【０００６】[0006]
【本発明の構成】以下図面を参照しながら本発明の水底
の物体の位置の計測方法の実施例について説明する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a method for measuring the position of an object on a water bottom according to the present invention will be described below with reference to the drawings.
【０００７】＜イ＞移動局。 水上には移動局を配置する。移動局の位置は刻々変化す
るが、この位置は人工衛星を利用したＧＰＳ（Ｇｌｏｂ
ａｌ Ｐｏｓｉｔｉｏｎｉｎｇ Ｓｙｓｔｅｍ）によっ
て観測する。ＧＰＳは人工衛星による汎地球測位システ
ムであり、相対測位法を実用化することによって、高精
度でリアルタイムに位置を計測することができる。した
がって移動局の位置は、移動中であっても瞬時にかつ正
確に把握することができる。<A> Mobile station. A mobile station is placed above the water. Although the position of the mobile station changes every moment, this position is determined by GPS (glob) using an artificial satellite.
al Positioning System). GPS is a global positioning system using artificial satellites, and it is possible to measure a position with high accuracy in real time by putting a relative positioning method into practical use. Therefore, the position of the mobile station can be grasped instantaneously and accurately even while moving.
【０００８】＜ロ＞地上局による補正。 移動局とは別に、地上に固定局を設置する場合もある。
この固定局は三次元座標の既知点に設けた基準局であ
る。移動局と固定局とに到達する人工衛星からの信号の
わずかな到達時間の差を解析することによって、移動局
の基準局に対する相対位置を求めることができる。その
結果、この相対測位法によってきわめて高い精度（例え
ば１秒間隔で１ｃｍ）で移動局の位置の測位が可能とな
る。<B> Correction by the ground station. Fixed stations may be installed on the ground separately from mobile stations.
This fixed station is a reference station provided at a known point of three-dimensional coordinates. The relative position of the mobile station with respect to the reference station can be determined by analyzing a slight difference in the arrival time of the signal from the satellite reaching the mobile station and the fixed station. As a result, the position of the mobile station can be measured with extremely high accuracy (for example, 1 cm at one second intervals) by the relative positioning method.
【０００９】＜ハ＞超音波の照射。 移動局からは水底に向けて超音波を扇状に照射し、その
反射波を計測する。例えば、５００ｋＨｚの超音波ビー
ムを、１２０°の角度で扇状に出し、これに直交するク
ロスファンビームを１°づつ電子スキャニングすれば、
水底の１２０ポイントの地形データを得ることができ
る。電子スキャニングによる測深は１秒間隔で行うこと
ができるから、曳航中の船から連続して行うことによ
り、短時間の内に水底面の三次元データ、すなわち平面
座標に高さを加えたデータを得ることができる。<C> Irradiation of ultrasonic waves. The mobile station radiates ultrasonic waves in a fan shape toward the water bottom and measures the reflected waves. For example, if an ultrasonic beam of 500 kHz is emitted in a fan shape at an angle of 120 ° and a cross fan beam orthogonal to this is electronically scanned by 1 °,
Topographic data of 120 points on the bottom of the water can be obtained. Since sounding by electronic scanning can be performed at intervals of one second, by continuously performing from the towing ship, three-dimensional data of the water bottom, that is, data obtained by adding height to plane coordinates, in a short time. Obtainable.
【００１０】＜ニ＞計測する対象。 上記のように超音波ビームの水底への照射と、ＧＰＳに
よる同時刻の移動局の位置を組み合わせることによっ
て、水底面の形状を把握することができる。さらに水底
の形状だけでなく徐々に移動する例えば海底管の先端の
位置を対象として計測することもできる。<D> Object to be measured. By combining the irradiation of the ultrasonic beam onto the water bottom and the position of the mobile station at the same time by GPS as described above, the shape of the water bottom can be grasped. Furthermore, it is possible to measure not only the shape of the water bottom but also the position of the tip of the submarine pipe that moves gradually, for example.
【００１１】＜ホ＞計測結果の処理。 移動局に収集した情報は、移動局内で処理することがで
き、超音波ビームの解析を行い、パソコンの画面に表示
して水底の物体、例えば海底管の位置、船位、計画線と
のずれなどを映像で表示することができる。<E> Processing of measurement results. The information collected by the mobile station can be processed in the mobile station, analyze the ultrasonic beam, display it on the screen of the personal computer, and display the objects on the water bottom, for example, the position of the seabed pipe, ship position, deviation from the planning line, etc. Can be displayed as an image.
【００１２】[0012]
【発明の効果】本発明の水底の物体の位置の計測方法は
以上説明したようになるから次のような効果を得ること
ができる。 ＜イ＞移動局、例えば船舶が通過するだけで、水底の物
体、例えば海底管の先端の位置を計測できるから、従来
のように水中作業を必要とせず、荒天時でも安全に計測
することができる。 ＜ロ＞前記したような水上にブイを浮かべ、そのブイの
位置を計測する方法では多数の作業員、および数名のダ
イバーが必要であった。しかし本発明の方法であれば、
移動する船舶の内部だけで数名の作業員で運用すること
ができきわめて経済的である。 ＜ハ＞水底の物体の側に受信および発信機を配置して測
定する方法も開発されているが、本発明の方法は水底の
物体側には何も配置する必要がないからきわめて経済的
である。 ＜ニ＞海底管の敷設状況に限らず、船舶などの位置計測
や工事海域の海底状況の観察など広い用途に利用するこ
とができる。 ＜ホ＞計測したデータを自動処理することによって、リ
アルタイムに水底の状況を確認することができる。As described above, the method for measuring the position of an object on the bottom of the water according to the present invention has the following effects. <B> Since the position of the bottom of an underwater object, for example, the tip of a submarine pipe, can be measured simply by passing a mobile station, for example, a ship, it is possible to measure safely even in stormy weather without the need for underwater work as in the past. it can. <B> The method of floating a buoy on the water and measuring the position of the buoy as described above requires a large number of workers and several divers. However, with the method of the present invention,
It is very economical because it can be operated by several workers only inside a moving ship. <C> A method has been developed in which a receiver and a transmitter are arranged on the side of an underwater object for measurement, but the method of the present invention does not require any arrangement on the object side of the underwater, and is extremely economical. is there. <D> The present invention can be used not only for the laying state of the submarine pipe, but also for a wide range of purposes such as measuring the position of a ship or observing the state of the seabed in a construction sea area. <E> By automatically processing the measured data, the status of the water bottom can be confirmed in real time.
【図１】水底の物体の位置の計測方法の説明図。FIG. 1 is an explanatory diagram of a method of measuring a position of an object on a water floor.
【図２】電子ビームによるキャスニングの説明図。FIG. 2 is an explanatory view of casting by an electron beam.
【図３】測定システムのフロー図。FIG. 3 is a flowchart of a measurement system.
【図４】表示された映像の実施例の説明図。FIG. 4 is an explanatory diagram of an example of a displayed image.
Claims (3)
て観測し、 移動局から水底に向けて超音波を扇状に照射し、この超
音波の反射を計測して水底の物体を計測する、 水底物体の位置の計測方法1. The position of a mobile station on the water is observed using an artificial satellite, ultrasonic waves are radiated from the mobile station toward the bottom of the water in a fan shape, and the reflection of the ultrasonic waves is measured to detect an object on the bottom of the water. How to measure the position of an underwater object
を、 人工衛星を利用して同時に観測し、 かつ水上の移動局の位置を、 上記の地上の固定局よりの情報によって補正し、 移動局から水底に向けて超音波を扇状に照射し、この超
音波の反射を計測して水底の物体を計測する、 水底物体の位置の計測方法2. The position of the mobile station on the water and the position of the fixed station on the ground are simultaneously observed using an artificial satellite, and the position of the mobile station on the water is corrected based on the information from the fixed station on the ground. A method of measuring the position of an underwater object by irradiating ultrasonic waves in a fan shape from the mobile station to the underwater and measuring the reflection of the ultrasonic wave to measure the underwater object
を、 人工衛星を利用して同時に観測し、 かつ水上の移動局の位置を、 上記の地上の固定局よりの情報によって補正し、 移動局から水底に向けて超音波を扇状に照射し、この超
音波の反射を計測して水底の物体の平面位置、および高
さを計測する、 水底物体の位置の計測方法3. The position of the mobile station on the water and the position of the fixed station on the ground are simultaneously observed using an artificial satellite, and the position of the mobile station on the water is corrected based on the information from the fixed station on the ground. A method of measuring the position of an underwater object by irradiating an ultrasonic wave from the mobile station to the underwater in a fan shape and measuring the reflection of the ultrasonic wave to measure the planar position and height of the underwater object
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9038319A JPH10221447A (en) | 1997-02-06 | 1997-02-06 | How to measure the position of objects on the water floor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9038319A JPH10221447A (en) | 1997-02-06 | 1997-02-06 | How to measure the position of objects on the water floor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH10221447A true JPH10221447A (en) | 1998-08-21 |
Family
ID=12521976
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP9038319A Pending JPH10221447A (en) | 1997-02-06 | 1997-02-06 | How to measure the position of objects on the water floor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH10221447A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0989353A2 (en) * | 1998-09-23 | 2000-03-29 | Pipeline Integrity International, Inc. | Mapping system for the integration and graphical display of pipeline information that enables automated pipeline surveillance |
| JP2006162294A (en) * | 2004-12-02 | 2006-06-22 | Furuno Electric Co Ltd | Bottom sediment detection system |
| KR101396043B1 (en) * | 2013-01-22 | 2014-05-15 | 김석문 | Underwater geographical feature measuring apparatus and method |
| WO2014192805A1 (en) * | 2013-05-29 | 2014-12-04 | 三菱電機株式会社 | Laser radar device and method for generating laser image |
-
1997
- 1997-02-06 JP JP9038319A patent/JPH10221447A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0989353A2 (en) * | 1998-09-23 | 2000-03-29 | Pipeline Integrity International, Inc. | Mapping system for the integration and graphical display of pipeline information that enables automated pipeline surveillance |
| EP0989353A3 (en) * | 1998-09-23 | 2001-08-16 | Pipeline Integrity International, Inc. | Mapping system for the integration and graphical display of pipeline information that enables automated pipeline surveillance |
| JP2006162294A (en) * | 2004-12-02 | 2006-06-22 | Furuno Electric Co Ltd | Bottom sediment detection system |
| KR101396043B1 (en) * | 2013-01-22 | 2014-05-15 | 김석문 | Underwater geographical feature measuring apparatus and method |
| WO2014192805A1 (en) * | 2013-05-29 | 2014-12-04 | 三菱電機株式会社 | Laser radar device and method for generating laser image |
| JP5889484B2 (en) * | 2013-05-29 | 2016-03-22 | 三菱電機株式会社 | Laser radar apparatus and radar image generation method |
| US9989631B2 (en) | 2013-05-29 | 2018-06-05 | Mitsubishi Electric Corporation | Laser radar device and radar image generating method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US6438071B1 (en) | Method for producing a 3D image | |
| FI126828B (en) | Procedure for scanning an object underwater and targets for scanning an object underwater | |
| CN108535751B (en) | Underwater positioning device and positioning method | |
| CN108614269A (en) | A kind of underwater positioning system and its working method based on image sonar | |
| JP4415192B2 (en) | Riverbed measuring device | |
| RU2444760C1 (en) | Method for removing lower surface of ice cover | |
| CN113640808B (en) | Shallow water submarine cable buried depth detection method and device | |
| Quinn et al. | Backscatter responses and resolution considerations in archaeological side-scan sonar surveys: a control experiment | |
| RU2012153734A (en) | METHOD FOR SHOOTING AQUATORIA BOTTOM RELIEF AND DEVICE FOR SHOOTING AQUATORIA BOTTOM RELIEF | |
| JP2002168952A (en) | Method of reconstituting submarine three-dimensional structure | |
| Violante | Acoustic remote sensing for seabed archaeology | |
| JPH10123247A (en) | Real-time underwater execution control method | |
| JPH10221447A (en) | How to measure the position of objects on the water floor | |
| Daramola et al. | Fusion of AUV-Mounted 360-Degree Underwater LiDAR and Side Scan Sonar Data | |
| JPS61262674A (en) | Apparatus for measuring position in water | |
| JP2001074834A (en) | Method for measuring underwater structure | |
| CN113608225B (en) | Method for calculating depth of buried water bottom target based on synthetic aperture sonar | |
| JPH0679065B2 (en) | Seabed search device | |
| CN114755667A (en) | Three-dimensional visual processing system of marine surveying and mapping underwater target | |
| RU2771434C1 (en) | Apparatus for surveying the underwater surface of an iceberg | |
| Bjørnø | Developments in sonar technologies and their applications | |
| Henderson et al. | Using Sector‐Scan Sonar for the Survey and Management of Submerged Archaeological Sites | |
| RU2271021C1 (en) | Method for determining cable-laying route and depth for underwater cable | |
| KR20210099817A (en) | Shellfish Resource Estimation Using Side Scan Sonar. | |
| Church et al. | Sound methods: the necessity of high-resolution geophysical data for planning deepwater archaeological projects |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20040106 |
|
| A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20050209 |
|
| A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20050215 |
|
| A02 | Decision of refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A02 Effective date: 20050628 |