PROBLEM TO BE SOLVED: To provide an underwater sailing body height detection method and an underwater sailing body height detection apparatus capable of detecting the height of an underwater sailing body by appropriately reflecting changes in a case of a non-flat water bottom in detection at a time of detecting the height of the underwater sailing body.SOLUTION: An underwater sailing body height detection apparatus comprises: a Doppler velocimeter 3 provided on a body 2 of an underwater sailing body 1 to turn downward; and a processor 4. Using four sonar beams 5 emitted from the Doppler velocimeter 3 in a direction of inclining at a certain beam angle θ with respect to a longitudinal direction and a horizontal direction of the body 2, positions of four points P1, P2, P3, and P4 at which the sonar beams 5 reach a water bottom 6 are obtained, respectively. Virtual triangles P1P2P3 and P1P3P4 each containing the three out of the four points P1, P2, P3, and P4 are formed to be aligned in the horizontal direction of the body 2. Shortest distances from the center of gravity G of the body 2 to virtual planes including the virtual triangles P1P2P3 and P1P3P4, individually are calculated and an average of the shortest distances is detected as a height of the underwater sailing body 1.

    【課題】水中航走体の高度の検出を行うときに、水底面が平らでない場合の変化をよく反映して、水中航走体の高度検出を行うことができる水中航走体の高度検出方法及び装置を提供する。【解決手段】水中航走体1の機体2に下方に向けて設けたドップラ速度計3と処理装置4を備える。ドップラ速度計3から機体2の前後方向、及び、左右方向に或るビームアングルθで傾斜する方向に発信する4本のソーナービーム5を用いて、各ソーナービーム5が水底6に到達した4つの地点P1,P2,P3,P4の位置を求める。4つの地点のうちの3つの地点を含む仮想の三角形P1P2P3と三角形P1P3P4を、機体2の左右方向に並ぶように形成する。機体重心Gから、仮想の三角形P1P2P3と三角形P1P3P4が個別に含まれる仮想平面までの最短距離を求め、その平均値を水中航走体1の高度として検出させる。【選択図】図1


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    Titel :

    UNDERWATER SAILING BODY HEIGHT DETECTION METHOD AND UNDERWATER SAILING BODY HEIGHT DETECTION APPARATUS


    Weitere Titelangaben:

    水中航走体の高度検出方法及び装置


    Beteiligte:

    Erscheinungsdatum :

    2015-08-03


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    G01S RADIO DIRECTION-FINDING , Funkpeilung / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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