To improve probability of success in acoustic communication or acoustic positioning by an underwater traveling vessel to a water surface traveling vessel.SOLUTION: In a sailing control device 100 controlling sailing of the underwater traveling vessel 10: estimates position of a water surface traveling vessel 20 to the underwater traveling vessel 10 by a position estimation unit 102; attitude of the underwater traveling vessel 10 in water W is controlled by an attitude controller 103; and the attitude of the underwater traveling vessel 10 in the water W is controlled by the attitude controller 103 so that the position of the water surface traveling vessel 20 to the underwater traveling vessel 10 estimated by a position estimation unit 102 is included in a directional range R of the acoustic communication or acoustic positioning of the underwater traveling vessel 10 to the water surface traveling vessel 20. Probability of success in acoustic communication or acoustic positioning by the underwater traveling vessel 10 to the water surface traveling vessel 20 is capable of being improved due to this.SELECTED DRAWING: Figure 2

    【課題】水上航走体に対する水中航走体の音響通信又は音響測位の成功の確率を向上させる。【解決手段】水中航走体10の航走を制御する航走制御装置100において、位置推定部102により、水中航走体10に対する水上航走体20の位置が推定され、姿勢制御部103により、水中航走体10の水中Wでの姿勢が制御され、姿勢制御部103により、位置推定部102により推定された水中航走体10に対する水上航走体20の位置が水上航走体20に対する水中航走体10の音響通信又は音響測位の指向範囲Rに含まれるように、水中航走体10の水中Wでの姿勢が制御される。このため、水上航走体20に対する水中航走体10の音響通信又は音響測位の成功の確率を向上させることができる。【選択図】図2


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    Title :

    SAILING CONTROL DEVICE, UNDERWATER TRAVELING VESSEL, AND SAILING CONTROL METHOD


    Additional title:

    航走制御装置、水中航走体及び航走制御方法


    Contributors:

    Publication date :

    2020-10-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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