PROBLEM TO BE SOLVED: To allow an underwater sailing body to be controlled with high followability to the undulation of a water bottom.SOLUTION: An FLS provided on a UUV 1 transmits a transmission wave beam in a transmission wave angular range including directly below and front downward of the UUV 1 relative to the travel direction of the UUV 1, and receives a reflection wave about which the transmission wave beam was reflected by a sea bottom as a plurality of reception wave beams with different directions. Then, on the basis of the received reflection wave, it calculates sea bottom altitude in front of the UUV 1. The UUV 1 autonomously navigates by feed-forward control on the basis of the calculated front sea bottom altitude.SELECTED DRAWING: Figure 6
【課題】水中航走体を水底の起伏に対して追従性を高く制御可能とする、ことを目的とする。【解決手段】UUV1に設けられるFLSは、UUV1の進行方向に対して、UUV1の直下及び前下方を含む送波角度範囲で送波ビームを送信し、送波ビームが海底で反射した反射波を方向が異なる複数の受波ビームで受信する。そして、受信した反射波に基づいて、UUV1の前方の海底高度を算出する。UUV1は、この算出された前方の海底高度に基づいて、自身をフィードフォワード制御により自律航行する。【選択図】図6
WATER BOTTOM ALTITUDE DETECTION DEVICE, UNDERWATER SAILING BODY, AND WATER BOTTOM ALTITUDE DETECTION METHOD
水底高度検知装置、水中航走体、及び水底高度検知方法
2017-09-07
Patent
Electronic Resource
Japanese
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