To estimate the azimuth angle of an underwater moving body on the basis of information pertaining to the position of the underwater moving body that moves upon receiving an indication of a steering device.SOLUTION: An azimuth angle estimation system comprises an underwater moving body 2, its steering device 3, a measuring device 4, and an azimuth angle estimation device 5. The azimuth angle estimation device 5 receives information pertaining to the position of the underwater moving body 2 estimated on the basis of the data measured by the measuring device 4, and acquires, on the basis of the information, information pertaining to the position of the underwater moving body 2 at a movement start time at which movement is begun by an azimuth angle estimation process and information pertaining to the position to which the underwater moving body 2 has moved for each set step, as well as performing the processes of updating the inclination and dispersion from reference direction of movement locus of the underwater moving body 2 by an iterative least square method, and estimating the azimuth angle of the underwater moving body 2 on the basis of the angle of inclination of the movement locus from the reference direction and the history of moved positions of the underwater moving body 2.SELECTED DRAWING: Figure 1
【課題】 操縦装置の指示を受けて移動する水中移動体の位置の情報を基に、水中移動体の方位角を推定する。【解決手段】 方位角推定システムは、水中移動体2と、その操縦装置3と、計測装置4と、方位角推定装置5を備える。方位角推定装置5は、計測装置4で計測されたデータを基に推定された水中移動体2の位置の情報を受け取り、その情報を基に、方位角推定処理により移動を開始する水中移動体2の移動開始時の位置の情報と、設定されたステップごとに水中移動体2が移動した位置の情報とを取得し、水中移動体2の移動軌跡の基準方向からの傾きと、分散とを、逐次最小二乗法により更新し、移動軌跡の傾きの基準方向からの角度と、水中移動体2が移動した位置の履歴とを基に、水中移動体2の方位角を推定する処理を行う。【選択図】図1
AZIMUTH ANGLE ESTIMATION SYSTEM AND AZIMUTH ANGLE ESTIMATION METHOD
方位角推定システムおよび方位角推定方法
2019-12-05
Patent
Elektronische Ressource
Japanisch
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