JP4958605B2 - Moving object position estimation detection method, apparatus, and moving object position estimation detection program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a method and a device for estimating and detecting the position of a moving body etc. and a program of the method for estimating and detecting the position of a moving body etc. capable of estimating the closest approach position by using a magnetic field without repeated computation and, moreover, capable of estimating the closest approach position even if a magnetic field by a moving body is reduced. <P>SOLUTION: The method comprises: a magnetic field detecting step for detecting by a magnetic field detector 11 the magnetic field at each component in three axial directions that is generated by a cruising body 2 cruising on the sea surface or under the sea; a magnetic field correction processing step for determining a ratio (By'/Bt') of the lateral distance direction component to the size of the detected magnetic fields B by determining the lateral distance direction component that is orthogonal to the movement direction of the cruising body 2 and also parallel to the sea surface out of the detected magnetic fields B at least based on information on the movement direction of the cruising body 2; and a lateral position computing step for estimating the closest approach position between the cruising body and the magnetic field detector 11 based on the ratio (By'/Bt') of the lateral distance direction component. <P>COPYRIGHT: (C)2009,JPO&amp;INPIT

Description

  TECHNICAL FIELD The present invention relates to a method and apparatus for estimating and detecting the position of a moving body navigating the sea surface or in the sea, and a program for estimating and detecting a position and the like of a moving body. The present invention relates to a program for an estimation detection method such as a position.

  Conventionally, as a method for detecting the position of a moving body by detecting a magnetic field (magnetic flux density) from a moving body without using an electric field sensor such as a UEP (Underwater Electric Potential) sensor or an acoustic sensor, for example, 3 An apparatus that detects orthogonal three-axis components of a magnetic signal generated by a ship using an axial magnetic sensor and calculates a relative position between the three-axis magnetic sensor and a moving ship that moves at a constant linear velocity using a least square method. Yes (see, for example, Patent Document 1).

  Further, for example, there is a method of detecting the position (deviation amount) of the moving target based on the orthogonal three-axis component of the signal generated by the electric field generated by the ship (see, for example, Patent Document 2).

Japanese Patent No. 3395136 JP 2000-304533 A

  However, a conventional method for estimating the position of a moving object is obtained by actual measurement by the least square method using a residual equation between measured and acquired time-series data and a theoretical value when estimating the position. The position is estimated by adjusting the parameters so that the measured value matches the equation as much as possible. For this reason, the calculation of the parameters requires an iterative calculation such as the least square method, and there is a problem that the position cannot be estimated promptly.

  Further, the position estimation using a magnetic field has a problem in that the accuracy of position estimation is reduced because the magnetic field generated by the moving body is reduced when the moving body is equipped with a demagnetizing device or the like.

  The present invention has been made to solve the above-described problems, and can estimate the closest approach position of a moving body using a magnetic field without performing repetitive calculations. It is an object of the present invention to obtain a moving object position estimation detection method, apparatus, and moving object position estimation detection method program capable of estimating the closest approach position even when the object position is reduced.

Mobile location such as estimated detection method according to the present invention, the magnetic field detection means, comprising the steps of detecting the magnetic field by the geomagnetism in each of the components in three axial directions, the inclination of the magnetic field sensing means with respect to the vertical direction to the sea surface A magnetic field detecting step of detecting a magnetic field generated by a moving body navigating the sea surface or the sea by each component in three axial directions by the magnetic field detecting means; Of the detected magnetic field, a magnetic field correction processing step for obtaining a lateral distance direction component orthogonal to the moving direction of the moving body and horizontal to the sea surface, and obtaining a ratio of the lateral distance direction component to the magnitude of the detected magnetic field; based on the ratio of the transverse distance direction component, and a lateral position calculating operation step of estimating the closest position between the moving body and said magnetic field detection means, wherein the magnetic field correcting process stearate The magnetic field detecting means is based on the inclination of the magnetic field detection means, the magnetic field due to the geomagnetism, the information on the magnetic field due to the geomagnetism recorded in advance, and the information on the moving direction of the moving body, and the moving body of the moving body. A lateral distance direction component that is orthogonal to the moving direction and is horizontal to the sea surface is obtained.

  Moreover, in the estimation detection method for a moving body position and the like according to the present invention, the lateral position calculation calculation step includes a relative depth between the moving body and the magnetic field detection unit, and an extreme value of a ratio of the lateral distance direction component, Based on prerecorded information on the distance corresponding to the extreme value of the ratio of the lateral distance direction component according to the relative depth between the moving body and the magnetic field detecting means, the moving body and the magnetic field detecting means. The closest approach position is estimated.

  Further, in the method for estimating and detecting the moving body position and the like according to the present invention, in the lateral position calculation calculation step, information on the lateral distance that is orthogonal to the moving direction of the moving body and is horizontal to the sea surface as the information on the distance. Is used.

  Further, in the method for estimating and detecting a moving object position and the like according to the present invention, the lateral position calculation calculation step uses information on a relative depth recorded in advance as a relative depth between the moving object and the magnetic field detection means. is there.

  The method for estimating and detecting a moving object position and the like according to the present invention further includes a depth measurement step for measuring a depth from the sea surface of the magnetic field detection means before the lateral position calculation calculation step, and the lateral position calculation calculation In the step, the depth of the magnetic field detection means from the sea surface is set as a relative depth between the moving body that navigates the sea surface and the magnetic field detection means.

  The method for estimating and detecting a moving body position and the like according to the present invention further includes a step of measuring the velocity of seawater with each component in three axial directions by the tidal current measuring means before the step of calculating the lateral position. In the position calculation calculation step, the closest approach position between the moving body and the magnetic field detection means is estimated based on the ratio of the lateral distance direction component corrected according to the speed of the seawater.

  A program according to the present invention causes a computer to execute the above-described estimation method for moving object position and the like.

The apparatus for estimating and detecting the position of a moving body according to the present invention includes a magnetic field detecting means for detecting a magnetic field generated by a moving body navigating the sea surface or in the sea and a magnetic field due to geomagnetism by each component in three axial directions, and a perpendicular to the sea surface. An inclination measuring means for measuring an inclination of the magnetic field detecting means with respect to a specific direction, a data recording means for recording at least information on the moving direction of the moving body, and at least detecting the magnetic field based on information on the moving direction of the moving body. Magnetic field correction for obtaining a transverse distance direction component perpendicular to the moving direction of the moving body and horizontal to the sea surface, and obtaining a ratio of the transverse distance direction component to the magnitude of the detected magnetic field out of the detected magnetic field detected by the means processing means, on the basis of the ratio of the transverse distance direction component, Bei example a horizontal position calculating operation means for estimating the closest position between the moving body and said magnetic field detection means, said data recording The stage records information on the magnetic field due to geomagnetism, and the magnetic field correction processing means includes the inclination measured by the inclination measurement means, the magnetic field due to geomagnetism detected by the magnetic field detection means, and the geomagnetism recorded in the data recording means. Out of the detected magnetic field detected by the magnetic field detection means based on the magnetic field information and the moving azimuth information of the moving body, the transverse direction component that is orthogonal to the moving azimuth of the moving body and is horizontal to the sea surface. It is what you want.

  Further, in the estimated detection apparatus for moving object position etc. according to the present invention, the data recording means corresponds to the extreme value of the ratio of the lateral distance direction component according to the relative depth between the moving object and the magnetic field detecting means. Information on the distance to be recorded, the lateral position calculation calculation means, the relative depth between the moving body and the magnetic field detection means, the extreme value of the ratio of the lateral distance direction component obtained by the magnetic field correction processing means, Based on the information on the distance recorded in the data recording means, the closest approach position between the moving body and the magnetic field detecting means is estimated.

  In the mobile object position estimation / detection device according to the present invention, the data recording means records, as the distance information, information on a lateral distance perpendicular to the moving direction of the mobile object and horizontal to the sea surface. It is what is done.

  In the apparatus for estimating and detecting the moving object position and the like according to the present invention, the data recording means records in advance information on the relative depth between the moving object and the magnetic field detecting means.

  The mobile body position estimation / detection apparatus according to the present invention further includes a depth measurement unit that measures a depth from the sea surface, and the lateral position calculation calculation unit navigates the depth measured by the depth measurement unit on the sea surface. The relative depth between the moving body and the magnetic field detection means is set.

  The mobile body position estimation and detection apparatus according to the present invention further includes tidal current measurement means for measuring the speed of the seawater with each component in three axial directions, and the lateral position calculation calculation means is in accordance with the speed of the seawater. Based on the corrected ratio of the lateral distance direction component, the closest approach position between the moving body and the magnetic field detecting means is estimated.

  The present invention detects a magnetic field generated by a moving body navigating the sea surface or the sea with each component in three axial directions, and based on information on the moving direction of the moving body, out of the detected magnetic field, is orthogonal to the moving direction of the moving body, In addition, the lateral distance direction component horizontal to the sea surface is obtained, the ratio of the lateral distance direction component to the magnitude of the detected magnetic field is obtained, and the closest position between the moving body and the magnetic field detecting means is determined based on the ratio of the lateral distance direction component. By estimating, the closest approach position can be estimated using the magnetic field even when the magnetic field due to the moving body is reduced without performing repeated calculations.

Embodiment 1 FIG.
FIG. 1 is a block diagram showing the configuration of a moving body position detection device according to Embodiment 1 of the present invention. Here, in this Embodiment, the navigation body 2 (for example, ship etc.) which is a magnetic body structure which moves the sea surface is assumed and demonstrated. Therefore, the moving body position detection device 1 is provided in the sea (including the seabed). Therefore, the magnetic field detector 11 described later detects the magnetic field strength in the sea as a signal. Further, it is assumed that the traveling body 2 performs a linear motion in a known direction. Further, in the present embodiment, it is assumed that the depth difference (relative depth) between the traveling body 2 and the moving body position detection device 1 (particularly, the magnetic field detector 11) is known. The traveling speed of the traveling body 2 may be unknown.

  The place where the moving body position detection device 1 (particularly the magnetic field detector 11) is provided is not particularly limited. Moreover, the moving body position detection device 1 may be laid on the seabed, or may be anchored at an arbitrary depth below the water surface by being connected to an anchor sinking on the seabed and a wire, for example. In this case, it is necessary to lay the moving body position detection device 1 (particularly, the magnetic field detector 11) so as not to rotate due to a tidal current or the like.

  In FIG. 1, a moving body position detection device 1 includes a magnetic field detector 11 as a magnetic field detection means, an inclinometer 12 as an inclination measurement means, an A / D converter 13, and a magnetic field correction as a magnetic field correction processing means. The processing unit 14 includes a data collector 15 that is a data recording unit, and a lateral position calculation calculation unit 16 that is a horizontal position calculation calculation unit.

  The magnetic field detector (magnetic sensor) 11 detects (receives) a magnetic field (magnetic flux density) as a signal and converts it into an electric signal (hereinafter referred to as a magnetic field signal) (in some cases, based on other detected magnetic physical quantities). An electric signal obtained by calculating a magnetic flux density based on the signal may be used as a magnetic field signal). Here, the magnetic field detector 11 is a detector having three detection means orthogonal to each other or a detector representing a three-axis sensor, and is in a three-axis direction (x, y, z) of an orthogonal (relative) coordinate system. It can be detected. In the following description, each component of the detected magnetic field B in the coordinate system (hereinafter referred to as the apparatus coordinate system) detected by the magnetic field detector 11 is assumed to be Bx, By, Bz.

  The inclinometer 12 measures the degree of inclination of the moving body position and the like detection device 1 (particularly, the magnetic field detector 11), for example, when the direction perpendicular to the sea surface is the z ′ axis, and an electric signal ( Hereinafter referred to as an inclination signal).

  The A / D converters 13A and 13B perform processing such as sampling to convert the magnetic field signal and the gradient signal into digital data signals (hereinafter, data based on each signal is referred to as magnetic field signal data and gradient data). . Here, since the distance between the magnetic field detector 11 and the inclinometer 12 is negligibly small compared to the distance between the apparatus and the traveling body 2, the origin of each coordinate system is the same (the same position). ).

  The magnetic field correction processing unit 14 makes the coordinate system of the magnetic field signal data orthogonal to the navigation direction of the traveling body 2 based on inclination data, geomagnetic data (described later), and navigation direction data (described later) by an operation described later. And it converts into a coordinate system (Bx ', By', Bz ') horizontal to the sea surface. Further, the magnetic field correction processing unit 14 obtains the ratio of the lateral distance direction component (By ′) to the magnitude of the detected magnetic field B (hereinafter also referred to as lateral distance component ratio data) and causes the data collector 15 to record it.

  The data collector 15 includes a data processing unit 15A and a data recording unit 15B. The data processing unit 15A is a so-called database management system (DBMS). A process of associating the lateral distance component ratio data and the time data input from the magnetic field correction processing unit 14 is performed. Further, the data recording unit 15B is configured by a recording device such as an HDD (Hard Disk Drive), for example, and records the lateral distance component ratio data and the time data for at least a certain time or a certain number. The data collector 15 serves as a so-called database.

  In the data recording unit 15B, magnetic field (magnetic flux density) data (hereinafter referred to as geomagnetic data) by geomagnetism (magnetic field by the earth) at the position where the moving body position detecting device 1 is laid in advance, navigation Data relating to the navigation direction of the traveling body 2 (hereinafter referred to as navigation direction data) and the distance corresponding to the extreme value (described later) of the lateral distance component ratio data according to the relative depth D between the device and the traveling body 2 Data is recorded.

  Here, the geomagnetic data is a vector quantity having a magnitude and a direction, for example, a combination of information on the total magnetic force, declination (angle made with true north in the horizontal plane), and dip angle (angle made with the horizontal plane) , Horizontal component (the magnitude of geomagnetism in the horizontal plane), vertical component (the magnitude of geomagnetism in the vertical plane), a combination of declination information, or the north component (the geomagnetism on the north-south axis) (Magnitude), east component (magnitude of geomagnetism on the east-west direction axis), data of vertical component force, and the like. Further, the navigation direction data is data represented by an angle formed by the north of the direction in which the traveling body 2 navigates and an angle formed by a horizontal plane. In addition, when the traveling body 2 navigates the sea surface, only the data of the angle formed with the magnetic north may be used.

  The lateral position calculation calculation unit 16 performs an operation between the traveling body 2 and the moving body position detection device 1 (magnetic field detector 11) based on the lateral distance component ratio data recorded in the data recording unit 15B by an operation described later. The closest approach position (distance) is estimated, and information on the estimated position (distance) is output to another device.

  Here, the magnetic field correction processing unit 14 and the lateral position calculation calculation unit 16 can be configured by hardware such as a circuit device, or are executed by a calculation device such as a CPU (Central Processing Unit) or a microcomputer. It can also be configured as software. When implemented as software, ROM (Read Only Memory), HDD (Hard Disk Drive), etc. store the program that realizes the functions of these units, and an arithmetic device such as a CPU or microcomputer reads the program, It can be configured by executing processing corresponding to the function of each unit in accordance with the instructions of the program. In addition, although each component is configured as a separate component (means) here, for example, a process based on a program performed by each unit may be performed by one control arithmetic processing device.

  With such a configuration, the moving body position detection device 1 in the present embodiment converts the detected coordinate system of the magnetic field into a coordinate system corresponding to the navigation direction of the traveling body 2, and the magnetic field generated by the traveling body 2 is changed. Detection is performed to calculate the lateral distance component ratio data, and the closest distance to the traveling body 2 is estimated based on the extreme value of the lateral distance component ratio data. Details of such an operation are divided into (1) coordinate axis correction of the detected magnetic field, (2) detection of the magnetic field by the traveling body, and (3) calculation of the closest approach distance using FIGS. Explained.

(1) Coordinate Axis Correction of Detected Magnetic Field FIG. 2 is a diagram for explaining the coordinate axis correction on the horizontal plane and the lateral distance between the traveling body according to the first embodiment of the present invention, and FIG. 3 relates to the first embodiment of the present invention. It is a figure explaining the coordinate axis correction | amendment in a perpendicular surface, and the closest approach distance with a navigation body. The magnetic field correction processing unit 14 converts the apparatus coordinate system into a coordinate system corresponding to the navigation direction of the traveling body 2 in a state where the magnetic field detector 11 does not detect the magnetic field generated by the traveling body 2. In addition, the state which is not detecting the magnetic field by the navigation body 2 can be judged by the case where the fluctuation | variation within the fixed time of the detected magnetic field B is below a fixed range etc., for example.

  First, as shown in FIG. 3, the magnetic field correction processing unit 14 converts the vertical axis (z-axis) of the apparatus coordinate system into a direction (z′-axis) perpendicular to the sea surface based on the tilt data. Next, magnetic field signal data in a state in which the magnetic field by the traveling body 2 is not detected, that is, magnetic field signal data by geomagnetism is acquired, and the geomagnetic data recorded in the data recording unit 15B and the magnetic field signal data by geomagnetism And the horizontal axis (x-axis or y-axis) in the apparatus coordinate system is converted to the magnetic north direction.

  Next, as shown in FIG. 2, the magnetic field correction processing unit 14 converts the horizontal axis (x axis or y axis) into the magnetic north direction based on the angle formed with the magnetic north of the navigation direction data recorded in the data recording unit 15B. Is converted into an azimuth (y ′ axis) orthogonal to the navigation azimuth (x ′ axis) and the navigation azimuth. By such an operation, the coordinate system of the detected magnetic field B detected by the magnetic field detector 11 is orthogonal to the navigation direction of the traveling body 2 and is a corrected magnetic field B ′ (Bx ′, By ′, Bz ′).

(2) Detection of magnetic field by navigation body FIG. 4 is a diagram showing an example of time-series data of lateral distance component ratio data according to Embodiment 1 of the present invention. When the traveling body 2 that is a magnetic structure moves under the geomagnetism, the magnetic field detector 11 detects a detection magnetic field B (Bx, By, Bz) in which the magnetic field by the traveling body 2 and the magnetic field by the geomagnetism are superimposed. To do. Note that the magnetic field generated by the traveling body 2 includes, for example, a coil in the traveling body to cancel the magnetic field generated from the traveling body, and at least in one direction even when the magnetic field is reduced. What is necessary is just to be able to detect a magnetic field. That is, even if the magnetic field generated by the traveling body 2 is in one direction, the ratio of the lateral distance direction component (described later) changes due to the movement of the traveling body 2, so that the closest approach distance described later can be calculated.

  The magnetic field correction processing unit 14 converts the detected magnetic field B detected by the magnetic field detector 11 into the above-described corrected magnetic field B ′ (Bx ′, By ′, Bz ′). Next, based on the converted correction magnetic field B ′, the ratio of the lateral distance direction component (By ′) to the magnitude (Bt ′) of the detection magnetic field is calculated as follows.

Ratio of lateral distance direction component = By ′ / Bt ′
Bt ′ = (Bx ′ ² + By ′ ² + Bz ′ ² ) ^1/2

  The magnetic field correction processing unit 14 causes the data collector 15 to record the calculated lateral distance direction component ratio (By ′ / Bt ′) as lateral distance component ratio data. By such an operation, time series data as shown in FIG. 4 is obtained. Note that the lateral distance component ratio data shown in FIG. 4 includes all of the navigation direction (x ′ axis), the direction orthogonal to the navigation direction (y ′ axis), and the direction perpendicular to the sea surface (z ′ axis). This is an example of data when the magnetic field is reduced, and in particular, the direction (y ′ axis) perpendicular to the navigation direction is significantly reduced.

  Such time-series lateral distance component ratio data is recorded until the time when Bt ′ is the maximum value or until the time when the maximum value is several seconds past.

(3) Calculation of closest approach distance FIG. 5 is a data example of the lateral distance corresponding to the extreme value of the ratio of the lateral distance direction component according to the first embodiment of the present invention. As shown in FIG. 5, the data recording unit 15B corresponds to the extreme value of the ratio (By ′ / Bt ′) of the lateral distance direction component according to the relative depth D between the traveling body 2 and the magnetic field detector 11. The horizontal distance information (hereinafter referred to as a horizontal distance table) is recorded.

  The lateral position calculation calculation unit 16 performs the extreme value (maximum value or minimal value) of the ratio (By ′ / Bt ′) of the lateral distance direction component from the lateral distance component ratio data recorded in the data collector 15 by the above-described operation. ) To get. Next, the lateral position calculation calculation unit 16 refers to the lateral distance table (FIG. 5) recorded in the data recording unit 15B, and responds to the extreme value of the acquired lateral distance direction component ratio (By ′ / Bt ′). Obtain the value of the lateral distance Y. Then, based on the value of the lateral distance Y and the value of the relative depth D, the closest approach distance L between the moving body position detection device 1 and the traveling body 2 shown in FIG. The value is output to another device connected to the device.

Closest approach distance L = (Y ² + D ² ) ^1/2

  The information to be output is not limited to the closest distance L but may be information on the lateral distance Y. Alternatively, information on the closest approach position may be output. Information on the lateral distance Y, the value of the relative depth D and the navigation direction, or the information on the relative position of the traveling body 2, that is, the position coordinates (x Information of ', y', z ') = (0, Y, D) may be used.

  In the first embodiment, the case where the traveling body 2 is a ship or the like navigating the sea surface has been described. However, the present invention is not limited to this, and the magnetic body structure that navigates the sea surface or the sea. Is also effective.

  In the first embodiment, the value of the lateral distance Y is acquired with reference to the lateral distance table (FIG. 5). However, the present invention is not limited to this, and the value of the lateral distance Y is calculated by a predetermined function calculation, for example. You may ask for.

  As described above, in the first embodiment, the magnetic field generated by the traveling body 2 navigating the sea surface or in the sea is detected by each component in the three axial directions, and the moving direction of the traveling body 2 is detected from the detected magnetic field B. The transverse direction component (By ′) that is orthogonal and horizontal to the sea surface is obtained, and the ratio (By ′ / Bt ′) of the transverse direction component (By ′) to the magnitude (Bt ′) of the detected magnetic field is obtained. By estimating the closest position (distance) between the traveling body 2 and the moving body position detecting device 1 (magnetic field detector 11) based on the ratio (By ′ / Bt ′) of the lateral distance direction component, the minimum The closest approach position (distance) can be quickly estimated without performing repetitive calculations such as the square method.

  Further, since the value of the lateral distance Y is obtained based on the ratio of the lateral distance direction component (By ′ / Bt ′), even if the magnetic field in one or more directions is demagnetized by a degaussing coil or the like, If a magnetic field in at least one direction can be detected, the closest approach distance of the traveling body 2 can be estimated.

Embodiment 2. FIG.
In the first embodiment, the closest depth (distance) is estimated on the assumption that the relative depth D between the traveling body 2 and the moving body position detection device 1 (magnetic field detector 11) is known. In the second embodiment, the depth at which the moving body position detection device 1 is laid is detected, and the closest depth (distance) of the traveling body 2 navigating the sea surface is set as the relative depth D. presume.

  FIG. 6 is a block diagram showing the configuration of the moving body position detection device according to Embodiment 2 of the present invention. As shown in FIG. 6, in the second embodiment, in addition to the configuration of the first embodiment, the moving body position detecting device 1 includes a depth meter 17 and an A / D converter 13C.

  The depth meter 17 measures the depth, which is the distance in the direction perpendicular to the sea surface (z ′ axis), of the moving body position detection device 1 (particularly, the magnetic field detector 11), and an electrical signal based on the measurement (hereinafter, Converted to a depth signal).

  The A / D converter 13C performs processing such as sampling to convert the depth signal into a digital data signal (depth signal data). Here, since the distance between the magnetic field detector 11 and the depth meter 17 is negligibly small compared to the distance between the device and the traveling body 2, the origin of each coordinate system is the same (same position). ).

  Further, in the data recording unit 15B in the second embodiment, the lateral distance information (hereinafter referred to as the lateral distance table) corresponding to the extreme value of the ratio (By ′ / Bt ′) of the lateral distance direction component includes a plurality of pieces. It is recorded for every depth, for example, for every predetermined interval in a predetermined depth range (for example, lateral distance table information for every 1 m at a water depth of 20 to 50 m).

  With such a configuration, the moving body position detection device 1 according to the second embodiment performs (1) coordinate axis correction of the detected magnetic field and (2) magnetic field by the traveling body by the same operation as in the first embodiment described above. (3) In calculating the closest approach distance, the lateral position calculation calculation unit 16 corresponds to the depth closest to the depth at which the device is laid based on the depth signal data detected by the depth meter 17. With reference to the lateral distance table, the value of the lateral distance Y corresponding to the extreme value of the ratio (By ′ / Bt ′) of the lateral distance direction component is obtained. Then, based on the value of the lateral distance Y and the value of the depth data, the closest approach distance L between the moving body position detection device 1 and the traveling body 2 is calculated, and the calculated value is connected to the device. Output to the device.

  As described above, in the second embodiment, in addition to the effects of the first embodiment, the depth from the sea surface is measured by the depth meter 17, and the depth from the sea surface is the traveling body 2 that navigates the sea surface. Since the relative depth D with respect to the moving body position detection device 1 (magnetic field detector 11) is set, a lateral distance table at a depth when the moving body position detection device 1 is actually laid on the seabed or in the sea is used. Thus, the closest approach position (distance) between the traveling body 2 and the moving body position detection device 1 (magnetic field detector 11) can be estimated, and the estimation accuracy can be further improved.

Embodiment 3 FIG.
The influence of noise caused by tidal current electromagnetic induction will be described. When seawater, which is a conductive medium, moves across the geomagnetism (tide flows), an induced electromotive force is generated by electromagnetic induction. When the magnetic field detector 11 is in seawater under geomagnetism, stray noise caused by the induced electromotive force generated around the magnetic field detector 11 is superimposed on a signal detected by the magnetic field detector 11.

  In the first and second embodiments described above, the lateral distance table includes noise caused by electromagnetic induction of the tidal current at the position (sea area) where the device is laid. Therefore, the tidal current is constant or the tidal flow velocity varies. When there is little, the accuracy of the estimated value of the closest position (distance) is not lowered due to the influence of noise caused by electromagnetic induction of power flow.

  However, noise due to electromagnetic induction of tidal current increases as the tidal current increases, and fluctuations in tidal flow velocity cause a decrease in accuracy of the estimated value.

  Therefore, in the third embodiment, the speed of seawater at the position where the moving body position detection device 1 is laid is detected, and the ratio of the lateral direction component (By ′ / Bt ′) is corrected, and the closest approach position (distance) of the traveling body 2 is estimated.

  FIG. 7 is a configuration block diagram of a moving body position detection device according to Embodiment 3 of the present invention. As shown in FIG. 7, in the third embodiment, in addition to the configuration of the first embodiment, the moving body position etc. detecting device 1 includes a tide meter 18 and an A / D converter 13D.

  The tide meter 18 measures the moving speed of seawater (the speed of the tide) and converts it into an electrical signal (hereinafter referred to as a tide signal). Also for the tide meter 18, it is assumed that each component of the velocity in the three-axis directions can be transmitted as a tide signal. The A / D converter 13D performs processing such as sampling to convert the tidal current signal into a digital data signal (tidal current data).

  Further, in the data recording unit 15B in the third embodiment, information on the correction value of the extreme value (hereinafter referred to as a correction table) of the ratio (By ′ / Bt ′) of the lateral distance direction component corresponding to the tidal velocity is obtained. , Recorded in advance. In the third embodiment, the case where the correction table is stored in advance will be described. However, the present invention is not limited to this, and for example, the correction value may be calculated by a predetermined function calculation using the tidal flow velocity.

  With such a configuration, the moving body position detecting device 1 according to the third embodiment has the same operations as those of the first embodiment described above, (1) correction of the coordinate axis of the detected magnetic field, and (2) the magnetic field generated by the traveling body. (3) In calculating the closest approach distance, the lateral position calculation calculation unit 16 performs vector synthesis of the detected components in the three axial directions based on the tidal current signal data detected by the tidal current meter 18. The magnitude of the tidal current velocity is obtained, and the correction value of the extreme value of the ratio (By ′ / Bt ′) of the lateral distance direction component corresponding to the magnitude of the tidal current velocity is obtained with reference to the correction table. Then, the extreme value of the ratio (By ′ / Bt ′) of the lateral distance direction component is corrected using this correction value.

  Next, as in the first embodiment described above, the lateral distance table (FIG. 5) recorded in the data recording unit 15B is referred to, and the corrected lateral distance direction component ratio (By ′ / Bt ′) is the extreme. The value of the lateral distance Y according to the value is obtained. Then, based on the value of the lateral distance Y and the value of the relative depth D, the closest approach distance L between the moving body position detection device 1 and the traveling body 2 is calculated, and the calculated value is connected to the device. Output to another device.

  As described above, in the third embodiment, in addition to the effects of the first embodiment, seawater speed (tidal current speed) is measured by the tide meter 18, and the lateral direction component corrected according to the seawater speed is used. By estimating the closest position (distance) between the traveling body 2 and the moving body position detection device 1 (magnetic field detector 11) based on the ratio (By ′ / Bt ′) of Even if the noise caused by electromagnetic induction of the tidal current fluctuates, it is possible to suppress a decrease in the accuracy of the estimated value.

1 is a configuration block diagram of a moving body position detection device according to Embodiment 1 of the present invention. FIG. It is a figure explaining the coordinate distance correction | amendment in the horizontal surface which concerns on Embodiment 1 of this invention, and the lateral distance with a navigation body. It is a figure explaining the coordinate axis correction | amendment in the perpendicular surface which concerns on Embodiment 1 of this invention, and the closest approach distance with a navigation body. It is a figure which shows the time series data example of the lateral distance component ratio data which concerns on Embodiment 1 of this invention. It is a data example of the lateral distance corresponding to the extreme value of the ratio of the lateral distance direction component which concerns on Embodiment 1 of this invention. It is a block diagram of the configuration of the moving body position detection device according to Embodiment 2 of the present invention. It is a block diagram of the configuration of a moving body position detection device according to Embodiment 3 of the present invention.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 Moving body position detection apparatus, 2 navigation body, 11 Magnetic field detector, 12 Inclinometer, 13A A / D converter, 13B A / D converter, 13C A / D converter, 13D A / D converter, 14 magnetic field correction processing unit, 15 data collector, 15A data processing unit, 15B data recording unit, 16 lateral position calculation calculation unit, 17 depth meter, 18 tide meter.

Claims (17)

The magnetic field detection means, comprising the steps of detecting the magnetic field by the geomagnetism in each of the components in three axial directions,
Measuring the inclination of the magnetic field detection means with respect to a direction perpendicular to the sea surface ;
A magnetic field detecting step for detecting a magnetic field generated by a moving body navigating the sea surface or the sea with each component in three axial directions by the magnetic field detecting means;
Based on at least information on the moving direction of the moving body, a lateral distance direction component that is orthogonal to the moving direction of the moving body and that is horizontal to the sea surface is obtained from the detected magnetic field, and the horizontal direction relative to the magnitude of the detected magnetic field is obtained. A magnetic field correction processing step for obtaining a ratio of the distance direction component;
A lateral position calculation calculation step for estimating a closest approach position between the moving body and the magnetic field detection means based on a ratio of the lateral distance direction component ;
The magnetic field correction processing step includes
The inclination of the magnetic field detection means;
A magnetic field by the geomagnetism;
Information of magnetic field by geomagnetism recorded in advance,
Based on the information of the mobile orientation of the movable body, wherein one of the detection magnetic field, perpendicular to the moving direction of the movable body, and, sea and you and obtains the horizontal transverse distance direction component moving body position, etc. Estimated detection method. The lateral position calculation calculation step includes:
A relative depth between the moving body and the magnetic field detection means;
An extreme value of the ratio of the lateral distance direction component;
Based on prerecorded information on the distance corresponding to the extreme value of the ratio of the lateral distance direction component according to the relative depth between the moving body and the magnetic field detecting means, the moving body and the magnetic field detecting means. mobile location such as estimated detection method according to claim 1 Symbol placement and estimates the closest position between. The lateral position calculation calculation step includes:
The method for estimating and detecting a moving object position and the like according to claim 2 , wherein information on a lateral distance orthogonal to the moving direction of the moving object and horizontal to the sea surface is used as the information related to the distance. The lateral position calculation calculation step includes:
The method according to claim 2 or 3 , wherein information on a relative depth recorded in advance is used as a relative depth between the moving body and the magnetic field detection means. Before the lateral position calculation calculation step,
A depth measurement step of measuring the depth from the sea surface of the magnetic field detection means;
The lateral position calculation calculation step includes:
The depth from the sea surface of said magnetic field sensing means, mobile location such estimation according to any one of claims 2 to 4, characterized in that the relative depth of the movable body and the magnetic field detecting means for navigating the sea surface Detection method. Before the lateral position calculation calculation step,
Further comprising a step of measuring the velocity of seawater with each component in three axial directions by means of tidal current measuring means,
The lateral position calculation calculation step includes:
Based on the ratio of the transverse distance direction component that is corrected according to the speed of the seawater, according to any one of claims 1 to 5, characterized in that estimating the closest position between the moving body and said magnetic field sensing means Method for estimating and detecting the position of a moving object.   A magnetic field detection step of detecting a magnetic field generated by a moving body navigating the sea surface or the sea with each component in three axial directions by the magnetic field detection means;
  Based on at least information on the moving direction of the moving body, a lateral distance direction component that is orthogonal to the moving direction of the moving body and that is horizontal to the sea surface is obtained from the detected magnetic field, and the horizontal direction relative to the magnitude of the detected magnetic field is obtained. A magnetic field correction processing step for obtaining a ratio of the distance direction component;
  A lateral position calculating step for estimating a closest approach position between the moving body and the magnetic field detecting means based on a ratio of the lateral distance direction component;
Have
  The lateral position calculation calculation step includes:
  A relative depth between the moving body and the magnetic field detection means;
  An extreme value of the ratio of the lateral distance direction component;
  Information relating to the distance corresponding to the extreme value of the ratio of the lateral distance direction component according to the relative depth between the moving body and the magnetic field detection means recorded in advance
A method for estimating and detecting the position of a moving body, etc., wherein the closest approach position between the moving body and the magnetic field detection means is estimated based on the above.   A magnetic field detection step of detecting a magnetic field generated by a moving body navigating the sea surface or the sea with each component in three axial directions by the magnetic field detection means;
  Based on at least information on the moving direction of the moving body, a lateral distance direction component that is orthogonal to the moving direction of the moving body and that is horizontal to the sea surface is obtained from the detected magnetic field, and the horizontal direction relative to the magnitude of the detected magnetic field is obtained. A magnetic field correction processing step for obtaining a ratio of the distance direction component;
  A step of measuring the velocity of seawater with each component in three axial directions by means of tidal current measuring means;
  A lateral position calculating step for estimating a closest approach position between the moving body and the magnetic field detecting means based on a ratio of the lateral distance direction component;
Have
  The lateral position calculation calculation step includes:
  A method of estimating and detecting a moving object position or the like, wherein the closest approach position between the moving object and the magnetic field detection means is estimated based on a ratio of a lateral distance direction component corrected according to the speed of the seawater. A program for causing a computer to execute the method for estimating and detecting a moving object position and the like according to any one of claims 1 to 8 . A magnetic field detecting means for detecting a magnetic field generated by a moving body navigating the sea surface or the sea and a magnetic field due to geomagnetism by each component in three axial directions;
An inclination measuring means for measuring an inclination of the magnetic field detecting means with respect to a direction perpendicular to the sea surface ;
Data recording means for recording at least information of the moving direction of the moving body;
Based on at least information on the moving direction of the moving body, out of the detected magnetic fields detected by the magnetic field detecting means, a transverse direction component perpendicular to the moving direction of the moving body and parallel to the sea surface is obtained, and the detected magnetic field Magnetic field correction processing means for obtaining a ratio of the lateral distance direction component to the magnitude of
Lateral position calculation calculation means for estimating the closest position between the moving body and the magnetic field detection means based on the ratio of the lateral distance direction component;
Bei to give a,
The data recording means records magnetic field information by geomagnetism,
The magnetic field correction processing means includes
The inclination measured by the inclination measuring means;
A magnetic field by the geomagnetism detected by the magnetic field detection means;
Based on the information on the magnetic field by the geomagnetism recorded on the data recording means and the information on the moving direction of the moving body, out of the detected magnetic fields detected by the magnetic field detecting means, it is orthogonal to the moving direction of the moving body, and etc. estimated detection device moving body position you and obtains the sea and horizontal transverse distance direction component. The data recording means records information related to the distance corresponding to the extreme value of the ratio of the lateral distance direction component according to the relative depth between the moving body and the magnetic field detection means,
The lateral position calculating means is
A relative depth between the moving body and the magnetic field detection means;
An extreme value of the ratio of the lateral distance direction component obtained by the magnetic field correction processing means;
12. The moving object position estimation detecting device according to claim 10 , wherein a closest approach position between the moving object and the magnetic field detecting means is estimated based on information on the distance recorded in the data recording means. .   12. The position of the moving body according to claim 11, wherein the data recording means records information on a lateral distance that is orthogonal to the moving direction of the moving body and is horizontal to the sea surface as the information on the distance. Estimated detection device.   13. The apparatus according to claim 11 or 12, wherein the data recording means records in advance information on a relative depth between the moving body and the magnetic field detecting means. It further comprises a depth measuring means for measuring the depth from the sea surface,
The lateral position calculating means is
14. The detection of estimated position of a moving object according to claim 11, wherein the depth measured by the depth measuring unit is set as a relative depth between the moving object navigating the sea surface and the magnetic field detecting unit. apparatus. It further comprises tidal current measuring means for measuring the velocity of seawater with each component in the three axial directions,
The lateral position calculating means is
Based on the ratio of the transverse distance direction component that is corrected according to the speed of the seawater, according to any one of claims 10 to 14, characterized in that estimating the closest position between the moving body and said magnetic field sensing means The moving body position estimation and detection device.   A magnetic field detecting means for detecting a magnetic field generated by a moving body navigating the sea surface or the sea and a magnetic field due to geomagnetism by each component in three axial directions;
  Data recording means for recording at least information of the moving direction of the moving body;
  Based on at least information on the moving direction of the moving body, out of the detected magnetic fields detected by the magnetic field detecting means, a transverse direction component perpendicular to the moving direction of the moving body and parallel to the sea surface is obtained, and the detected magnetic field Magnetic field correction processing means for obtaining a ratio of the lateral distance direction component to the magnitude of
  Lateral position calculation calculation means for estimating the closest position between the moving body and the magnetic field detection means based on the ratio of the lateral distance direction component;
With
  The data recording means records information related to the distance corresponding to the extreme value of the ratio of the lateral distance direction component according to the relative depth between the moving body and the magnetic field detection means,
  The lateral position calculating means is
  A relative depth between the moving body and the magnetic field detection means;
  An extreme value of the ratio of the lateral distance direction component obtained by the magnetic field correction processing means;
  Information about the distance recorded in the data recording means;
Based on the above, the moving body position estimation and detection device for estimating the closest position between the moving body and the magnetic field detection means.   A magnetic field detecting means for detecting a magnetic field generated by a moving body navigating the sea surface or the sea and a magnetic field due to geomagnetism by each component in three axial directions;
  Data recording means for recording at least information of the moving direction of the moving body;
  Based on at least information on the moving direction of the moving body, out of the detected magnetic fields detected by the magnetic field detecting means, a transverse direction component perpendicular to the moving direction of the moving body and parallel to the sea surface is obtained, and the detected magnetic field Magnetic field correction processing means for obtaining a ratio of the lateral distance direction component to the magnitude of
  A lateral position calculation calculating means for estimating a closest approach position between the moving body and the magnetic field detecting means based on a ratio of the lateral distance direction component;
  Tidal current measuring means to measure the velocity of seawater with each component in three axis directions;
With
  The lateral position calculating means is
  An apparatus for estimating and detecting a moving body position and the like, which estimates a closest approach position between the moving body and the magnetic field detection means based on a ratio of a lateral distance direction component corrected according to the speed of the seawater.

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