UNDERSEA ACOUSTIC POSITIONING SYSTEM

• Main Authors: WADA TOMOHISA, NAKAGAWA SHIGEO, TOMA SATOSHI, SUZUKI DAISAKU, KAWAMORI AKIYOSHI
• Format: Patent
• Language: English; Japanese
• Published: 27.03.2023
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; TESTING

To measure underwater coordinates of subdevices such as AUV cruising underwater by only two points in total, a first reference point defined as a ship at seat and a second point defined as a buoy towed by the ship.SOLUTION: An undersea acoustic positioning system comprises two reference points of a first reference points and a second reference point that are served references for positioning points and located on the water, and two or more subdevices cruising in water. The subdevices execute: a distance calculation step of calculating a distance between the first reference point and each subdevice, a distance between the respective subdevices, a distance between the second reference point and each subdevice, and a distance between the respective subdevices based on a transmission time when each reference point transmits an acoustic signal and a reception time when each subdevice receives the acoustic signal; and an underwater coordinates determination step of determining underwater coordinates of the subdevice from absolute coordinates received from the respective reference points, a dive depth measured by a depth sensor and an arrival direction of an acoustic signal transmitted from the other subdevice detected by a transducer. Thereby, the undersea acoustic positioning system measures the underwater coordinates of the respective subdevices.SELECTED DRAWING: Figure 1 【課題】本発明は、海上の船とする第１基準点と、その船が牽引するブイとする第２基準点の計２点だけで、海中を潜航するＡＵＶ等の従属装置の水中座標を測定する。【解決手段】海中音響測位システムは、測位地点の基準となる、水上に位置する第１基準点及び第２基準点の２つの基準点と、水中を航走する２以上の従属装置と、からなり、従属装置が、各基準点が音響信号を送信した送信時刻と、各従属装置が音響信号を受信した受信時刻をもとに、第１基準点と各従属装置間の距離、各従属装置間の距離、第２基準点と各従属装置間の距離、各従属装置間の距離、を計算する距離計算工程と、各基準点から受信した絶対座標と、深度センサーが測定した潜航深度と、トランスデューサーが検知した他の従属装置から送信された音響信号の到来方向と、から従属装置の水中座標を決定する水中座標決定工程と、を実行することで、各従属装置の水中座標を測定する。【選択図】図１