To simultaneously measure underwater positions of a plurality of positioning objects by a positioning moving body above the water surface.SOLUTION: An underwater positioning system includes: a plurality of positioning object moving bodies capable of autonomously moving underwater; and a plurality of positioning moving bodies arranged on the water surface for measuring underwater positions of the positioning object moving bodies. The positioning moving body includes three or more hydrophones capable of receiving underwater sound pulse signals, measures the underwater position of the positioning object moving body being a transmission source of the sound pulse signal on the basis of its own position on the water surface and the sound pulse signal received by the hydrophone, and transmits underwater position information to the positioning object moving body. The positioning object moving body transmits the sound pulse signal, and controls its movement on the basis of its underwater position indicated by the underwater position information received from the positioning moving body. Under the water surface of each of the positioning moving bodies, there are arranged a maximum number or less of the positioning object moving bodies whose positions can be simultaneously measured.SELECTED DRAWING: Figure 1
【課題】複数の被測位移動体の水中の位置を水面上の測位移動体によって同時に測定することを図る。【解決手段】水中に配置され、水中を自律的に移動可能な複数の被測位移動体と、水面に配置され、被測位移動体の水中の位置を測定する複数の測位移動体と、を備え、測位移動体は、水中の音響パルス信号を受信可能な3個以上のハイドロフォンを備え、自己の水面上の位置とハイドロフォンで受信した音響パルス信号に基づいて音響パルス信号の発信源の被測位移動体の水中の位置を測定し、当該被測位移動体へ水中位置情報を送信し、被測位移動体は、音響パルス信号を発信し、測位移動体から受信した水中位置情報に示される自己の水中の位置に基づいて自己の移動を制御し、各測位移動体の水面下には同時に測位可能な最大数以下の被測位移動体が配置される。【選択図】図1
UNDERWATER POSITIONING SYSTEM AND UNDERWATER POSITIONING METHOD
水中測位システム及び水中測位方法
2023-04-10
Patent
Electronic Resource
Japanese
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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 |
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