To eliminate the need for movement to a point where an angle error becomes a specific quantity.SOLUTION: An azimuth angle calibration system 1 comprises an arithmetic unit 4 for acquiring azimuth angle information on the basis of the information of an azimuth angle detector of an underwater moving body 2, and an estimation system 5. The estimation system 5 includes a steering device 6 of the underwater moving body 2, a measuring device 7, an azimuth angle estimation device 8, and a determiner 9. The azimuth angle estimation device 8 performs an update process of updating, by an iterative least square method, the inclination and dispersion from reference direction of movement locus of the underwater moving body 2 on the basis of the movement start position of the underwater moving body that moves in a movement direction indicated by the steering device 6 and information pertaining to the moved position, and further performs a computation process of computing the angle of inclination to the reference direction of movement locus and a process of estimating the azimuth angle of the underwater moving body 2 on the basis of the computation result and the history of moved positions of the underwater moving body 2. When the dispersion decreases to a set value or below, the determiner 9 sends azimuth angle estimation information to the arithmetic unit 4 for the purpose of calibration.SELECTED DRAWING: Figure 1
【課題】 角度誤差が特定量となる地点への移動を不要にする。【解決手段】 方位角較正システム1は、水中移動体2の方位角検出装置の情報を基に方位角情報を取得する演算装置4と、推定システム5を備える。推定システム5は、水中移動体2の操縦装置6と、計測装置7と、方位角推定装置8と、判断器9を備える。方位角推定装置8は、操縦装置6で指示された移動方向に移動する水中移動体の移動開始時の位置と、移動した位置の情報を基に、水中移動体2の移動軌跡の基準方向からの傾きと、分散を、逐次最小二乗法により更新する更新処理を行い、更に、移動軌跡の基準方向に対する傾きの角度を演算する演算処理と、演算結果と水中移動体2が移動した位置の履歴を基に、水中移動体2の方位角を推定する処理を行う。判断器9は、分散が設定された値以下になると、方位角の推定情報を、演算装置4へ較正のために送る。【選択図】図1
AZIMUTH ANGLE CALIBRATION SYSTEM AND AZIMUTH ANGLE CALIBRATION METHOD
方位角較正システムおよび方位角較正方法
2019-12-05
Patent
Elektronische Ressource
Japanisch
IPC: | G01S RADIO DIRECTION-FINDING , Funkpeilung / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS |
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