PROBLEM TO BE SOLVED: To quickly resume positioning of an underwater sailing body whose positioning has become impossible.SOLUTION: An underwater sailing body monitoring device 3 is configured to include a control part, self-position detection means, an acoustic positioning device, and a sailing device in a machine body of an on-water sailing body 1. When there are underwater sailing bodies whose acoustic positioning has become impossible in performing acoustic positioning of a plurality of underwater sailing bodies 2a, 2b, 2c, and 2d by the acoustic positioning device, the control part gives the sailing device a command with a position p where the underwater sailing bodies 2a, 2b, 2c, and 2d whose positioning has become impossible are positioned last as a target position. The on-water sailing body 1 is moved to a position above the position p where the underwater sailing bodies 2a, 2b, 2c, and 2d whose positioning has become impossible are positioned last, and the acoustic positioning is resumed for the underwater sailing bodies 2a, 2b, 2c, and 2d whose acoustic positioning has become impossible.SELECTED DRAWING: Figure 2
【課題】 測位不可能となった水中航走体について測位の速やかな再開を図る。【解決手段】 水中航走体監視装置3は、水上航走体1の機体に、制御部と自己位置検出手段と音響測位装置と航走装置とを備えた構成とする。音響測位装置で複数の水中航走体2a,2b,2c,2dの音響測位を行うときに、音響測位不可能なものが生じた場合は、制御部は、測位不可能となった水中航走体2a,2b,2c,2dが最後に測位された位置pを目標位置とする指令を航走装置に与える。これにより、水上航走体1を、測位不可能となった水中航走体2a,2b,2c,2dが最後に測位された位置pの上方位置へ移動させて、その音響測位が不可能となった水中航走体2a,2b,2c,2dについての音響測位の再開を図る。【選択図】図2
UNDERWATER SAILING BODY MONITORING DEVICE AND UNDERWATER SAILING BODY MONITORING METHOD
水中航走体監視装置および水中航走体監視方法
2018-02-22
Patent
Electronic Resource
Japanese
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