To correct error occurring with an own position estimation value and to have an underwater sailing body approach a target with high accuracy.SOLUTION: The own position estimation error compensation method: has an underwater sailing body 100 loaded with detection means for detecting a target object 400 and own position estimation means 18 set a position of the target object 400 and approach the target 400; acquires detection data detecting the target 400 by the detection means; transmits the detection data to monitoring means 302 by wireless communication; monitors a position error between the target 400 and the underwater sailing body 100 based on the detection data in the monitoring means 302; and carries out a process for solving a positional error due to an estimation error in the own position in the own position estimation means 18 by operation means 48 when the positional error exists.SELECTED DRAWING: Figure 1
【課題】自己位置推定値に伴う誤差を修正し、水中航走体を目標物に高精度で接近させる。【解決手段】目標物400を検知する検知手段と自己位置推定手段18を搭載した水中航走体100に目標物400の位置を設定して航走させて目標物400に接近させ、検知手段で目標物400を検知した検知データを取得し、検知データを監視手段302に無線通信を利用して伝送し、監視手段302において検知データに基づいて目標物400と水中航走体100との間の位置的誤差を監視し、位置的誤差がある場合に操作手段48により自己位置推定手段18における自己位置の推定の誤差に起因する位置的誤差を解消する処理を行う。【選択図】図1
OWN POSITION ESTIMATION ERROR COMPENSATION METHOD FOR UNDERWATER SAILING BODY AND OWN POSITION ESTIMATION ERROR COMPENSATION SYSTEM FOR UNDERWATER SAILING BODY
水中航走体の自己位置推定誤差補正方法及び水中航走体の自己位置推定誤差補正システム
2021-08-10
Patent
Electronic Resource
Japanese
IPC: | 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 / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen |
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