JP2003202238A - Position updating method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a position updating method capable of updating position information having smaller error. <P>SOLUTION: A submarine boat 10 is provided with an inertia navigation device 11, a position measuring device 12, and a display device 16. The inertia navigation device 11 has position information 6 indicating a position of the submarine boat 10 and calculates a position of the submarine boat 10 based on angular velocity when the submarine boat 10 runs in the water to generate calculation results. The position measuring device 12 measures a position of the submarine boat 10 for a first transponder by Nth time (N is a positive number above 1) to generate measurement results by the number of N. The position measuring device 12 compensates the calculation results based on the number of N of the measurement results to control the inertia navigation device 11 so that the position information 6 is updated using the compensated calculation results as the position information 6. The position measuring device 12 controls the display device 16 so as to display the position information 6 updated by the inertia navigation device 11. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a position updating method, and more particularly to a position updating method for updating the position of a submarine traveling underwater toward a transponder provided at a predetermined position on the seabed.

[0002]

2. Description of the Related Art A submersible that travels underwater is an INS (Inertial Navigation) provided on the submersible.
n System: inertial navigation system) has position information indicating the position of the submarine. The INS includes a gyro sensor, and the INS uses the gyro sensor to calculate the position of the submarine and update the position information. However, the gyro sensor measures the angular velocity when the submarine travels underwater, and the INS calculates the position of the submarine by integrating the angular velocity and the calculation result indicating the calculated position of the INS (submarine ship). To generate. Therefore, the calculation result includes a calculation error in which the error in the calculation result increases as the submarine travels over a long distance.

In order to correct the calculation result including the calculation error, as shown in Japanese Patent Application Laid-Open No. 62-30975, a submersible ship uses a position measuring device provided on the submersible ship to propagate sound waves. To use. The submersible communicates with the position measuring device and one or a plurality of transponders (acoustic lighthouses) provided at predetermined positions on the seabed once using sound waves. The position measuring device transmits the first sound wave to the transponder and receives the second sound wave from the transponder according to the response of the first sound wave. The position measurement device measures (positions) the position of the position measurement device (submersible) with respect to the transponder based on the time difference between the transmission of the first sound wave and the reception of the second sound wave, and the position is determined based on the position measurement result. A positioning result indicating the position of the measuring device (submersible) is generated.
The position measurement device corrects the calculation result including the calculation error based on the generated positioning result, and the INS updates the position information with the calculation result corrected by the position measurement device as the position of the submarine.

However, since the submersible cruises underwater even with the time difference between the transmission of the first sound wave and the reception of the second sound wave, the positioning result shows an error in the position of the submersible ship due to the time difference. Includes position error. Therefore, the position measuring device cannot correct the position of the submarine indicated by the calculation result based on the positioning result including the position error.
The NS updates the position information including the position error as the corrected position of the submarine.

[0005]

SUMMARY OF THE INVENTION An object of the present invention is to provide a position updating method capable of updating position information having a smaller error.

[0006]

[Means for Solving the Problems] Means for solving the problems will be described below with reference to the numbers and symbols used in the embodiments of the present invention. These numbers and signs are added to clarify the correspondence between the description in [Claims] and the description in [Embodiment of the Invention], but in [Claims] It should not be used to interpret the technical scope of the described invention.

The position updating method of the present invention is directed to a submersible ship 1 that runs underwater toward a first transponder of a plurality of transponders provided at a predetermined position on the seabed.
Update the position of 0, 20, 30, 40. Submarine 10,
An inertial navigation device 11, a position measuring device 12, and a display device 16 are provided at 20, 30, and 40. The inertial navigation device 11 has position information 6 indicating the positions of the submarines 10, 20, 30, 40, and is based on the angular velocity when the submarines 10, 20, 30, 40 travel underwater. Two
The position of 0, 30, 40 is calculated, and the calculated submarine 1
A calculation result indicating the positions of 0, 20, 30, 40 is generated.

In the position updating method of the present invention, (a) the position measuring device 12 measures the position of the submersible 10, 20, 30, 40 with respect to the first transponder N times (N is a positive number of 1 or more), Measured submersible 10, 20, 30, 40
Generating N positioning results indicating the position of
(B) a step of correcting the calculation result based on the N positioning results by the position measuring device 12, and (c) the position information 6 is updated with the calculated result corrected by the position measuring device 12 as the position information 6. Inertial navigation system 11
And (d) the position measuring device 12 controls the display device 16 so that the position information 6 updated by the inertial navigation device 11 is displayed.

In the position updating method of the present invention, in step (a), (e) the position measuring device 12 is used to calculate N positioning results {Snd (i) | Snd (i) = S.
nd (1), Snd (2), ..., Snd (N)}, and (f) the inertial navigation device at the time when the positioning result {Snd (i)} is generated by the position measuring device 12. The calculation result from 11 is the calculation result {INS
(I) | INS (i) = INS (1), INS (2),
,, INS (N)}. In addition, in the position updating method of the present invention, in step (b), (g) the position measurement device 12 measures the positioning result {Snd (N)} of the positioning results {Snd (i)}.
Pos (i) = Snd at the N-th time when generating
(I) + {INS (N) -INS (i)} to calculate a corrected position {Pos (i)} for correcting the position of the submersible 10, 20, 30, 40; and (h) By the position measuring device 12, A = {Pos (1) + Pos
(2) + ... + Pos (N)} / N allows the submersible 10,
A step of calculating an estimated position A for estimating the positions of 20, 30, and 40, and (j) a calculation result {INS (i )} Calculation result {INS
(N)} as a corrected calculation result.

In the position updating method of the present invention, the step (j) is performed by the (k) position measuring device 12 to
(I) = A- {Pos (i)} to calculate an error {B (i)} between the estimated position A and the corrected position {Pos (i)}; and (l) the position measuring device 12, When the error {B (i)} is present in the first set distance L ₁ by a prescribed number or more, the calculation result {INS is obtained by averaging the corrected positions corresponding to the respective errors existing in the first set distance L ₁ .
(N)} for calculating a correction position C for correcting, and (m) the position measuring device 12 calculates the calculation result {INS (N)} based on the correction position C as the corrected calculation result. And a step of correcting.

In the position updating method of the present invention, in the step (l), the error (B (i)} is set as M (M) by the (n) position measuring device 12 as a prescribed number within the first set distance L ₁ . Is represented by any one of 1 to N), the M correction positions {Pos (i)} corresponding to the M errors {B (i)} are added and added. The method further comprises the step of calculating the corrected position C by dividing the M corrected positions {Pos (i)} by M.

Thus, the position updating method of the present invention determines whether the positioning result {Snd (i)} is valid,
The position information 6 having a smaller error can be updated by correcting the calculation result {INS (N)} (correcting the position of the submarine 10) only when the position information 6 is valid.

In the position updating method of the present invention, when the (o) error {B (i)} does not exist in the specified number within the first set distance L ₁ , the position measuring device 12 causes the positioning result {S
nd (i)} is set to Snd (i) = Snd (i + 1), and the calculation result {INS (i)} is set to INS (i) = IN.
As S (i + 1), the step of (e), the step of (f), the step of (g), the step of (h),
The method further includes performing steps (j), (k), (l), and (m).

In the position updating method of the present invention, (p) the distance from the position of the submersible vessel 20, 30, 40 indicated by the position measuring device 12 to the predetermined position of the first transponder. And (q) when the distance is not within the second set distance L ₂ , the position measuring device 12 causes the step (a) to be performed, and the step (b) to be performed.
The method further comprises the steps of performing the steps of (1), (c), (d), and (p).

As a result, the position updating method of the present invention brings the calculation result {INS while approaching the first transponder.
By correcting (N)} a plurality of times, the position information 6 with a smaller error can be updated.

In the position updating method of the present invention, the submersible 3
In the case of 0 and 40, when the (r) distance is not within the second set distance L ₂ , the position measuring device 12 causes the first set distance L to be set.
_{The method} further includes the step of executing the step (q) by setting the distance obtained by subtracting the third setting distance α shorter than the first setting distance L ₁ from ₁ as the first setting distance L ₁ . In the position updating method of the present invention, (s) the first set distance L ₁ is the third set distance α.
When it is shorter, the position measuring device 12 further includes the step of executing the step (q) with the first set distance L ₁ as the third set distance α.

As a result, the position updating method of the present invention makes the calculation result {INS
By correcting (N)} a plurality of times and shortening the first set distance L ₁ as the calculation result {INS (N)} is corrected, the position information 6 having a smaller error can be updated.

In the position updating method of the present invention, the (t) position measuring device 12 is different from the first transponder of the plurality of transponders to which the submersible vessel 40 is heading next from the predetermined position of the first transponder. Second
A step of calculating an inter-transponder distance to a predetermined position of the transponder, and (u) the position measuring device 12 changing the second set distance L ₂ based on the inter-ponder distance, and the step of (a). , (B) steps, (c) steps, (d) steps, and (p) steps are further included.

In the position updating method of the present invention, the step (u) is performed by (v) the position measuring device 12 when the distance between transponders is longer than the reference, the second set distance L ₂
From the distance obtained by subtracting the second set distance L is shorter than ₂ fourth predetermined distance β as the second set distance L _2, the steps of (a), the steps of (b), the steps of (c), ( d)
And the step of executing (p). In the position updating method of the present invention, (u)
Step (w) is performed by the position measuring device 12 when the inter-transponder distance is shorter than the reference, the second set distance L
₂ , a distance obtained by adding a fourth set distance β shorter than the second set distance L ₂ to the second set distance L ₂ is step (a), step (b), step (c), (D)
And the step of executing (p). Thereby, the position updating method of the present invention is
By changing the second set distance L ₂ , it is possible to update the position information 6 with a smaller error.

Computer programs 19 and 2 of the present invention
Reference numerals 9, 39, and 49 denote submersible vessels 10, 20, 30, 4 that sail underwater toward a first transponder among a plurality of transponders provided at predetermined positions on the seabed.
Update the 0 position. The computer programs 19, 29, 39, 49 of the present invention are the submarines 10, 20, 30,
Used for 40. The submersibles 10, 20, 30, 40 are provided with an inertial navigation device 11, a position measuring device 12, and a display device 16. The inertial navigation system 11 is used for the submarine 1
It has position information 6 indicating the positions of 0, 20, 30, 40,
The position of the submersible vessel 10, 20, 30, 40 is calculated based on the angular velocity when the submersible vessel 10, 20, 30, 40 travels underwater, and the calculated position of the submersible vessel 10, 20, 30, 40 Is generated.

Computer programs 19 and 2 of the present invention
9, 39, and 49 measure (a) the position of the submersible 10, 20, 30, 40 with respect to the first transponder N times (N is a positive number of 1 or more), and the measured submersible 10, 20, 3,
A step of generating N positioning results indicating the positions of 0 and 40; (b) a step of correcting the calculation result based on the N positioning results; and (c) a position information 6 of the corrected calculation result.
Inertial navigation device 1 so that position information 6 is updated as
1), and (d) the display device 1 so that the position information 6 updated by the inertial navigation device 11 is displayed.
Position measuring device 1 including the step of controlling 6
Let 2 run.

Computer programs 19 and 2 of the present invention
In 9, 39, 49, the step of (a) is (e)
The positioning results of {N positioning results {Snd (i) | Snd
(I) = Snd (1), Snd (2), ..., Snd
(N)}, and (f) the positioning result {Snd (i)} is generated at the time when the inertial navigation device 11 calculates the calculation result {INS (i) | INS
(I) = INS (1), INS (2), ..., INS
(N)} and the step of collecting as (N)}. Further, in the computer programs 19, 29, 39, 49 of the present invention,
In step (b), (g) positioning result {Snd (i)}.
Pos (i) = Snd (i) + {INS at the N-th time when the positioning result {Snd (N)} of
(N) -INS (i)}, the submersible 10, 20, 3
Corrected position {Pos for correcting the positions of 0 and 40
(I)} is calculated, and (h) A = {Pos
(1) + Pos (2) + ... + Pos (N)} / N to calculate the estimated position A for estimating the position of the submersible 10, 20, 30, 40; and (j) the estimated position A Based on the calculation result {INS
The position measurement device 12 is further caused to execute a method including a step of correcting the calculation result {INS (N)} of (i)} as a corrected calculation result.

Computer programs 19 and 2 of the present invention
9, 39, 49, the step of (j) is (k)
B (i) = A- {Pos (i)} to calculate an error {B (i)} between the estimated position A and the corrected position {Pos (i)}, and (l) error {B (i) )} Is present in the first set distance L ₁ by a prescribed number or more, the calculation result {INS (N)} is corrected by averaging the respective corrected positions corresponding to the respective errors existing in the first set distance L ₁ . The position measuring device further includes a step of calculating a correction position C for performing the correction, and (m) a step of correcting the calculation result {INS (N)} based on the correction position C as the corrected calculation result. Make 12 execute.

Computer programs 19 and 2 of the present invention
9, 39, 49, the step of (l) is (n)
When the error {B (i)} exists in the first set distance L _{1 by} M (M is represented by any one of 1 to N) as the prescribed number, M error {B (i)} )} Corresponding to M correction positions {Pos (i)} and dividing the added M correction positions {Pos (i)} by M,
The position measuring device 12 is further caused to execute the method including the step of calculating the corrected position C.

As a result, the computer programs 19, 29, 39, 49 of the present invention cause the positioning result {Snd
(I)} is determined to be valid, and only when it is valid, the calculation result {INS (N)} is corrected (the position of the submarine 10 is corrected). Can be updated.

Computer programs 19 and 2 of the present invention
In 9, 39, 49, when the specified number of (o) errors {B (i)} does not exist in the first set distance L ₁ , the positioning result {Snd (i)} is Snd (i) = Snd ( i +
1), and the calculation result {INS (i)} is INS (i)
= INS (i + 1), the step of (e),
(F) step, (g) step, (h) step, (j) step, (k) step,
The position measuring device 12 is further caused to execute the method including the step of performing the step (l) and the step (m).

Computer program 29, 3 of the present invention
9 and 49, (p) calculating a distance from the position of the submersible vessel 20, 30, 40 indicated by the corrected calculation result to a predetermined position of the first transponder; 2 When it is not within the set distance L ₂ ,
The position measuring device 12 further includes a method including the steps of (a), (b), (c), (d), and (p).
To run.

As a result, the position updating method of the present invention allows the calculation result {INS to be calculated while approaching the first transponder.
By correcting (N)} a plurality of times, the position information 6 with a smaller error can be updated.

Computer programs 39, 4 of the present invention
In 9, when the submersible 30 and 40, when (r) the distance is not the second inner set distance _{L 2,} the first predetermined distance _{L 1,} minus the shorter than the first predetermined distance _{L 1} third predetermined distance α The position measuring device 12 is further caused to execute a method including the step of executing the step (q), with the distance set as the first set distance L ₁ . Computer program 39, 4 of the present invention
9, (s) the first set distance L ₁ is the third set distance α
When it is shorter, the position measuring device 12 is further caused to execute the method including the step (q) in which the first set distance L ₁ is set to the third set distance α.

As a result, the position updating method of the present invention brings the calculation result {INS while approaching the first transponder.
By correcting (N)} a plurality of times and shortening the first set distance L ₁ as the calculation result {INS (N)} is corrected, the position information 6 having a smaller error can be updated.

In the computer program 49 of the present invention, (t) a second transponder which is different from the first transponder of the plurality of transponders to which the submersible vessel 40 is headed next from the predetermined position of the first transponder is predetermined. The step of calculating the inter-transponder distance to the determined position, (u) changing the second set distance L ₂ based on the inter-transponder distance, and the steps of (a), (b), (c) ) Step, and (d)
The position measuring device 12 is further caused to perform the method including the steps of (1) and (p).

In the computer program 49 of the present invention, the step (u) includes the step (v), where the inter-transponder distance is longer than the reference, from the second set distance L ₂ to the fourth set distance shorter than the second set distance L _2. The distance minus β is the second
As the set distance L ₂ , (a) step, (b) step, (c) step, (d) step,
The position measuring device 12 is further caused to perform the method including the steps of (p). In the computer program 49 of the present invention, the step (u) is
(W) When the distance between transponders is shorter than the reference, the second
The set distance _{L 2,} the distance plus the shorter second set distance _{L 2} fourth predetermined distance β as the second set distance _{L 2,} the steps of (a), the steps of (b), (c), The position measuring device 12 is further caused to perform a method including steps, step (d), and step (p). Accordingly, the position updating method of the present invention can update the position information 6 having a smaller error by changing the second set distance L ₂ .

The submersible vessel of the present invention runs underwater toward the first transponder of the plurality of transponders provided at a predetermined position on the seabed. The submersible includes an inertial navigation device 11, a position measuring device 12, and a display device 16.
With. The inertial navigation device 11 has position information 6 indicating the position of the submersible, calculates the position of the submersible based on the angular velocity when the submersible travels in water, and indicates the calculated position of the submersible. Generate a calculation result. Position measuring device 12
Measures the position of the submarine with respect to the first transponder N times (N is a positive number of 1 or more), generates N positioning results indicating the measured position of the submarine, and based on the N positioning results Correct the calculation result. The position measurement device 12 uses the corrected calculation result as the position information 6 and controls the inertial navigation device 11 so that the position information 6 is updated.
The display device 16 is controlled so that the position information 6 updated by is displayed.

[0034]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of a location updating method according to the present invention will be described below with reference to the accompanying drawings. The location updating method of the present invention is performed by the location updating system shown in FIG. FIG. 1 is a layout diagram showing the layout of a plurality of transponders for a submersible to travel underwater. As shown in FIG. 1, the position updating system includes a submersible underwater and a plurality of transponders provided at predetermined positions on the seabed. In this embodiment, there are three transponders, and the three transponders are transponders 1, 2, and 3. The submersible is assumed to sail underwater while recognizing the position of the submersible, for example, transponder 1, transponder 2, transponder 3 in that order.

(Embodiment 1) FIG. 2 is a block diagram showing the concept of the submersible 10. As shown in FIG. 2, the submersible 10 corresponds to the submersible shown in FIG. The submersible 10 includes an inertial navigation device 11, a position measuring device 12, and a display device 16 provided on the submersible 10. The inertial navigation device 11 has position information 6 indicating the position of the submersible 10.

The inertial navigation system 11 includes a gyro device 13 exemplified by a gyro sensor. The gyro device 13 measures the angular velocity when the submersible 10 travels underwater. The inertial navigation device 11 integrates the angular velocities to calculate the position of the submersible 10 and generates a calculation result INS indicating the calculated position of the inertial navigation device 11 (submersible 10). Therefore, the calculation result INS includes a calculation error in which the error of the calculation result INS increases as the submarine 10 travels a long distance.

The position measuring device 12 is exemplified by ultrasonic waves.
Utilizes the propagation of sound waves. The submersible 10 has a position measuring device 1
2 and a transponder (for example, a trans
Communicate with the spawner 1) multiple times by sound waves. position
The measuring device 12 is an acoustic homing sonar 14, a control device.
15 is provided. Acoustic Homing Sonar 14 is a transmitter 1
7. The receiver 18 is provided. The control device 15 is a computer.
A program 19 which is a
The display device 16 displays the position information 6 by 19
To control. In addition, the controller 15 controls the program 19
From the transponder 1 to the first sound wave 4₁Four_Two, ... 4
_NThe transmitter 17 is controlled so that the first sound wave 4
₁Four_Two, ... 4_NFrom transponder 1 in response to
Second sound wave 5₁5,_Two, ... 5_NTo be received
It controls the receiver 18. Sound Homing Sonar 14
The control device 15 controls the transponder 1 to generate the first sound wave.
Four ₁Four_Two, ... 4_NThe first sound wave 4₁Four_Two,
... 4_NSecond sound wave from transponder 1 due to the response of
5₁5,_Two, ... 5_NTo receive. Where N is 1 or more
Is a positive number, and N is 16 in this embodiment.

FIG. 3 (a) is a diagram showing the concept for correcting the position of the submersible 10, and FIG. 3 (b) is the submarine 1
FIG. 2 is a layout diagram showing a layout of a transponder 1 for traveling underwater 0. As shown in FIG. 3, the controller 15
Is the first time, the second time, ...
At the sixteenth time, the transmitter 17 causes the first sound wave 4 ₁ , 4 ₂ , ...,
4 ₁₆ is transmitted and then the receiver 18 transmits the second sound wave 5 ₁ ,
Based on the time difference until 5 ₂ , ..., 5 ₁₆ is received,
The position of the position measuring device 12 (submersible vessel 10) with respect to the transponder 1 (position of the transponder 1) provided at a predetermined position on the seabed is measured (positioned), and the position is determined. ) Indicating the position of {Snd (i) | Snd (i) = Snd (1), Sn
, d (2), ..., Snd (N)} are generated. Here, it is assumed that the time elapses in the order of the first time, the second time, ..., And the 16th time. Further, N is 16, and the positioning result {S
nd (i)} is Snd ₁ , Snd ₂ , ..., Snd ₁₆
It is represented by. Further, submersible 10, first acoustic ₄ 1,
4 ₂ , ..., 4 ₁₆ and then the second sound waves 5 ₁ , 5 ₂ ,
... Even under the time lag until 5 ₁₆ is received, the vehicle moves underwater, and therefore the positioning results Snd ₁ , Snd ₂ , ..., Snd ₁₆
Includes a position error indicating the position error of the submersible 10 due to the time difference.

Further, the control device 15 uses the program 19 to calculate the calculation results at the first time, the second time, ..., The sixteenth time {INS (i) | INS (i) = INS (1),
INS (2), ..., INS (N)} is the inertial navigation device 11
Collect from. Here, the calculation result {INS (i)} is
Calculation results INS ₁ , INS ₂ , ..., INS ₁₆ (position of the submersible 10 by the inertial navigation device 11) are represented.

The control device 15 controls the positioning result Snd.₁, Sn
d_Two, ..., Snd₁₆Since the position error is included in
Submarine at 16th time (current time) by Gram 19
Correction position for correcting the position of 10 {Pos (i)}
To calculate. The corrected position {Pos (i)} is the corrected position P
os₁, Pos_Two, ..., Pos₁₆It is represented by. Modified position
Position {Pos (i)}, that is, the corrected position Pos₁,
Pos_Two, ..., Pos ₁₆Is calculated as Pos (i) = S
nd (i) + {INS (N) -INS (i)}
, Pos is the corrected position, Snd is the position measuring device 12
Positioning results showing the position of (submersible 10), INS is inertial navigation
The calculation result showing the position of the legal device 11 (submersible 10) is displayed.
, I is 1, 2, ...

The controller 15 uses the program 19 to
Average value of the correction position {Pos (i)}, that is, the correction position P
An average value of os ₁ , Pos ₂ , ..., Pos ₁₆ is calculated as an estimated position A for estimating the position of the submarine 10. The estimated position A is calculated by A = {Pos (1) + Pos
(2) + ... + Pos (N)} / N, where A represents the estimated position and Pos represents the corrected position. The control device 15 calculates the error {B (i)} between the calculated estimated position A and the corrected position {Pos (i)} by the program 19. The error {B (i)} is represented by the errors B ₁ , B ₂ , ..., B ₁₆ . Calculation of error {B (i)}, that is, error B ₁ ,
The calculation of B ₂ , ..., B ₁₆ is B (i) = A− {Pos
(I)}, B is the error, A is the estimated position, Po
s represents a correction position, and i is 1, 2, ... The control device 15 selects a set distance L ₁ (set distance L ₁ or less or set distance L ₁ or less, here set distance) from among the errors B ₁ , B ₂ , ..., B ₁₆ calculated by the program 19. (L < ₁ ). The set distance L ₁ corresponds to the radius of a circle centered on the estimated position A.

The selected error has a prescribed number M (M is 1
In the range of ≦ M ≦ N, which is represented by any one of 1 to N, and for example, M is 16) or more), the control device 15 corresponds to the error selected by the program 19. The average value of each corrected position is calculated as a correction position C for correcting the calculation result INS ₁₆ (position of the submersible 10 by the inertial navigation device 11) at the 16th time (current time). The selected M errors are error B ₁ ,
In the case of B ₂ , ..., B ₁₆ , the correction position C is calculated by calculating M correction positions {Pos corresponding to the selected M errors.
(I)} is added, and the added M correction positions {Pos
The corrected position C is calculated by dividing (i)} by M.

The controller 15 uses the program 19 to
Calculation result INS based on the calculated correction position C
₁₆ is corrected to the correction position C in the direction of arrow X shown in FIG. The control device 15 controls the inertial navigation device 11 so that the position information 6 is updated by the program 19 using the corrected calculation result INS ₁₆ as the position (position information 6) of the submarine 10. Further, the control device 15 controls the display device 16 by the program 19 so that the position information 6 updated by the inertial navigation device 11 is displayed.

On the other hand, the selected error is less than the specified number M.
In the case of
Positioning result Snd at 7 hours₁₇And calculation result INS
₁₇Positioning at the first time, which is the old time, by adding and
Result Snd₁And calculation result INS ₁Discard and. This place
In this case, the control device 15 uses the program 19 to determine the positioning result.
{Snd (i)} is Snd (i) = Snd (i + 1)
And the calculation result {INS (i)} is INS (i) = I
As NS (i + 1), the corrected position Pos_Two, Pos_Three,
… Pos₁₇The corrected position {Pos (i)} represented by
Calculate and estimate the average value of the corrected position {Pos (i)}
The calculated estimated position A and the corrected position {P
error B with os (i)}_Two, B_Three, ..., B₁₇Represented by
Error {B (i)} is calculated, and the calculated error {B (i)}
(I)}, the set distance L₁Select one that is less than
To do.

As described above, the position updating method according to the first embodiment determines whether the positioning result Snd is valid,
Correct the calculation result INS only when it is valid (submersible 10
The position information 6 having a smaller error can be updated by correcting the position of.

4 to 6 are flowcharts showing the operation of the control device 15 in the position updating method according to the first embodiment. In each step shown in FIGS. 4 to 6, the controller 19 is operated by the program 19.

As shown in FIG. 4, the controller 15 is
The position measuring device 12 for the transponder 1 is based on the time difference between the transmitter 17 transmitting the first sound wave 4 ₁ and the receiver 18 receiving the second sound wave 5 ₁ at the _first time.
Positioning result S indicating the position of the position measuring device 12 (submersible 10) that measures (positions) the position of the (submersible 10).
nd ₁ is generated (step S1). In addition, the control device 1
5 is the inertial navigation device 11 (submersible 1
0) the calculation result INS ₁ indicating the position of the inertial navigation device 11
(Step S2). The control device 15 determines that the positioning result and the calculation result are not N or more (step S
3-NO), the process returns to step S1, and positioning is performed a fixed number of times (in this case, N is 16 and the fixed number of times is 16) until the number of positioning results becomes N.

In steps S1, S2 and S3, the controller 15 causes the transmitter 17 to output the first sound waves 4 ₁ , 4 ₂ , ..., 4 _N at the first time, the second time, ..., The Nth time. The position of the position measuring device 12 (submersible 10) with respect to the transponder 1 is measured (positioning) based on the time difference between the transmission and the reception of the second sound waves 5 ₁ , 5 ₂ , ..., 5 _N by the receiver 18. Then
Positioning results Snd ₁ , Snd ₂ , ..., Snd _N indicating the position of the position-measuring device 12 (submersible 10) that has been positioned are generated. Further, the control device 15 controls the first time, the second time, ...
From the inertial navigation device 11, the calculation results INS ₁ , INS ₂ , ..., INS _N indicating the position of the inertial navigation device 11 (submersible 10) at the N-th time are collected.

When the positioning result and the calculation result are not (N + 1) or more (step S4-NO), the controller 15
Since the positioning results Snd ₁ , Snd ₂ , ..., Snd _N include position errors, the positioning results Snd ₁ , Snd ₂ , ..., Snd _N and the calculation result I at the Nth time (current time).
Corrected positions Pos ₁ , Pos for correcting the position of the submersible 10 based on NS ₁ , INS ₂ , ..., INS _N.
2 , ..., Pos _N are calculated (step S6). The correction positions Pos ₁ , Pos ₂ , ..., Pos _N are calculated by Pos.
_i = Snd _i + {INS _N -INS _i },
Pos is a corrected position, Snd is a positioning result indicating the position of the position measuring device 12 (submarine 10), and INS is the inertial navigation device 1.
1 represents the calculation result indicating the position of 1 (submersible 10), and i is 1, 2, ..., N.

As shown in FIG. 5, the controller 15 is
An average value of the corrected positions Pos ₁ , Pos ₂ , ..., Pos _N is calculated as an estimated position A for estimating the position of the submarine 10 (step S7). The estimated position A is calculated as A
= (Pos ₁ + Pos ₂ + ... + Pos _N ) / N, where A represents the estimated position and Pos represents the corrected position.

The control unit 15 calculates in step S7.
Estimated position A and the correction position calculated in step S6
Stand Pos₁, Pos_Two, ..., Pos_NError B₁, B
_Two, ..., B_NIs calculated (step S8). Error B₁,
B_Two, ..., B_NIs calculated as B _i= A-Pos_iBy line
, B is the error, A is the estimated position, and Pos is the corrected position.
, I is 1, 2, ..., N.

The control unit 15 controls the calculated error B₁, B
_Two, ..., B_NSet distance L from ₁What is less than
A selection is made (step S9). Here, the set distance L₁Less than
Is the error B_Four, B₅, ..., B_NAnd

When the number of selected errors is less than M (step S10-NO), the controller 15 returns to step S1 shown in FIG. In steps S1, S2, and S3, the control device 15 sets the transmitter 17 at the (N + 1) th time.
Measures (positions) the position of the position measuring device 12 (submersible 10) with respect to the transponder 1 based on the time difference between the transmission of the first sound wave 4 _{N + 1} and the reception of the second sound wave 5 _{N + 1} by the receiver 18. , Positioned position measuring device 12
The positioning result Snd _{N + 1} indicating the position of the (submersible 10) is generated. Further, the control device 15 collects a calculation result INS _{N + 1} indicating the position of the inertial navigation device 11 (submersible 10) at the (N + 1) th time from the inertial navigation device 11. When the number of positioning results and the number of calculation results are (N + 1) or more (step S4-YES), the control device 15 determines the positioning result Snd ₁ and the calculation result I at the first time indicating the oldest time.
NS ₁ and N are discarded (step S5).

After this, the control unit 15 starts from step S6.
As a result of executing S10, the selected errors are less than M.
If (step S10-NO), step S1 is performed again.
Return to and step until the selected error is M or more.
Repeat S1 to S10. In this case, steps S1 and S
In S2 and S3, the control device 15 controls the (N + 2) th time and the
At time (N + 3), the transmitter 17 transmits the first sound wave 4_{N + 2}Four
_{N + 3}And the receiver 18 transmits the second sound wave 5_{N + 2},
5_{N + 3}Based on the time difference until receiving
Position of the position measuring device 12 (submersible 10) with respect to the ponder 1
Position (positioning), and the position measuring device 12
Positioning result Snd indicating the position of the watercraft 10) _{N + 2}, Snd
_{N + 3}To generate. Further, the control device 15 controls the (N +
2) At time, (N + 3) th time, (N + 4) th time
A calculation result indicating the position of the inertial navigation device 11 (submersible 10)
Fruit INS_{N + 2}, INS_{N + 3}From the inertial navigation system 11
collect. In steps S4 and S5, the control device 15
When the positioning result and the calculation result are (N + 1) or more,
Positioning results at 2nd and 3rd time, which show the oldest time
Fruit Snd_Two, Snd_ThreeAnd calculation result INS_Two, INS_ThreeWhen
Discard.

At step S6, the control device 15 determines the position.
Result Snd_Four, Snd₅, ..., Snd_N, Sn
d_{N + 1}, Snd_{N + 2}, Snd_{N + 3}Position error
Since it is rare, positioning is performed at the (N + 3) th time (current time).
Result Snd_Four, Snd₅, ..., Snd _N, Sn
d_{N + 1}, Snd_{N + 2}, Snd_{N + 3}And the calculation result I
NS_Four, INS ₅, ..., INS_N, INS_{N + 1}, IN
S_{N + 2}, INS_{N + 3}The position of the submarine 10 based on
Position Pos for correcting the position_Four, Pos₅, ...
Pos_N, Pos_{N + 1}, Pos_{N + 2}, Pos_{N + 3}
To calculate. Corrected position Pos_Four, Pos₅, ..., Pos
_N, Pos_{N + 1}, Pos_{N + 2}, Pos_{N + 3}Calculation of
Is Pos_i= Snd_i+ {INS_{N + 3}-INS_i}
Pos is the corrected position and Snd is the position measurement device.
Positioning result showing the position of the device 12 (submersible 10), INS is
Calculation result showing the position of inertial navigation system 11 (submersible 10)
, I is 4, 5, ..., N + 3.

In step S7 shown in FIG. 5, the control device 15 controls the corrected positions Pos ₄ , Pos ₅ , ..., Po.
The estimated position A for estimating the position of the submarine 10 is the average value of s _N , Pos _{N + 1} , Pos _{N + 2} , and Pos _{N + 3.}
Calculate as The estimated position A is calculated by A = (Pos ₄
+ Pos ₅ + ... + Pos _N , Pos _{N + 1} , Pos
_{N + 2} , Pos _{N + 3} ) / N, where A represents the estimated position and Pos represents the corrected position.

In step S8, the control device 15 causes the controller 15 to
Estimated position A calculated in step S7 and step S6
Corrected position Pos calculated by_Four, Pos₅, ..., Pos
_N, Pos_{N + 1}, Pos_{N + 2}, Pos_{N + 3}Wrong with
Difference B_Four, B₅, ..., B_N, B _{N + 1}, B_{N + 2}, B
_{N + 3}To calculate. In step S9, the control device 15
Is the calculated error B_Four, B₅, ..., B_N, B_{N + 1},
B_{N + 2}, B_{N + 3}Set distance L from₁Is less than
Select one. Here, the set distance L₁Less than
Error B_Four, B₅, ..., B_N, B_{N + 1}, B_{N + 2}, B
_{N + 3}And

[0058] Control unit 15, when the error that is selected is greater than or equal M pieces (step S10-YES), the error _{B 4,} B ₅ are _{selected, ..., B N, B N} + 1, B N + 2, B N + 3
, Po, corresponding to the corrected positions Pos ₄ , Pos ₅ , ..., Po
A correction position C for correcting the position of the submarine 10 using the average value of s _N , Pos _{N + 1} , Pos _{N + 2} , and Pos _{N + 3.}
Is calculated as (step S11). In this case, the correction position C is calculated by calculating the M errors B ₄ , B ₅ , ..., B _N , B.
M correction positions Pos ₄ , Pos ₅ , ..., Pos _N , Pos _{N + 1} , P corresponding to _{N + 1} , B _{N + 2} , and B _{N + 3.}
os _{N + 2} , Pos _{N +3} are added, and the M corrected positions Pos ₄ , Pos ₅ , ..., Pos _N , Pos are added.
_The corrected position C is calculated by dividing _{N + 1} , Pos _{N + 2} , and Pos _{N + 3} by M.

The control device 15 corrects the calculation result INS _{N + 3} (the position of the submersible 10 by the inertial navigation device 11) based on the calculated correction position C (step S12).
As shown in FIG. 6, the control device 15 outputs the corrected calculation result INS _{N + 3} to the position of the submarine 10 (position information 6).
Inertial navigation device 1 so that position information 6 is updated as
1 is controlled (step S13). The control device 15 controls the display device 16 so that the position information 6 updated by the inertial navigation device 11 is displayed (step S14).

As described above, the position updating method according to the first embodiment determines whether the positioning result Snd is valid and corrects the calculation result INS only when the positioning result Snd is valid (the position of the submarine 10 is The position information 6 having a smaller error can be updated by performing the correction.

(Second Embodiment) FIG. 7 is a block diagram showing the concept of the submersible 20. As shown in FIG. 7, the submersible 20 corresponds to the submersible shown in FIG. The submersible 20 has the same configuration as the submersible 20 described in the first embodiment, but the control device 15 of the position measuring device 12 includes a program 29, which is a computer program, instead of the program 19.

FIG. 8 is a layout showing the layout of the transponder 1 for the submersible 20 to travel underwater. The control device 15 uses the program 29 to execute the above-mentioned program 1
The calculation result INS (position of the submersible 20 by the inertial navigation device 11) is repeatedly executed while repeatedly performing the same operation as that of 9 to bring the transponder (for example, the transponder 1) close to the transponder.
Is corrected a plurality of times to improve the accuracy of the calculation result INS to be corrected. Since the transponder 1, 2 and 3 is provided at a position that is determined in advance, the control device 15, the program 29, the submersible 20 and the distance between the transponder 1 is set distance L within ₂ (set distance L ₂ less Or set distance L ₂
Is less than the set distance L ₂ in this case), the correction of the calculation result INS ends. The set distance L ₂ is
It corresponds to the radius of a circle centered on the transponder (transponder 1 in this case).

9 to 11 are flowcharts showing the operation of the control device 15 in the position updating method according to the second embodiment. In each step shown in FIGS. 9 to 11, the control device 15 is operated by the program 29.

The controller 15 controls the steps S1 to S14 described in the first embodiment as shown in FIGS.
To execute. After the execution of step S14, as shown in FIG. 11, the control device 15 calculates the distance from the position of the submersible 20 to the position of the transponder 1 indicated by the calculation result INS _{N + 3} corrected in step S12 (step S14). S15). The control device 15, if the calculated distance is less than the set distance _{L 2} (Step S16-YES), the operation ends. On the other hand, if the calculated distance is not less than the set distance L ₂ (step S16-N).
O), and returns to step S1.

From the above description, in addition to the effect of the first embodiment, the position updating method according to the second embodiment corrects the calculation result INS a plurality of times while approaching the transponder (transponder 1). The position information 6 having a smaller error than that of the first embodiment can be updated.

(Third Embodiment) FIG. 12 is a block diagram showing the concept of the submersible 30. As shown in FIG. 12, the submersible 30 corresponds to the submersible shown in FIG.
The submersible 30 has the same configuration as the submersible 30 described in the first embodiment, but the controller 15 of the position measuring device 12 is used.
Includes a program 39, which is a computer program, instead of the program 19.

The controller 15 uses the program 39 to
Similar to the program 29 described above, the calculation result INS (position of the submersible 30 by the inertial navigation device 11) is corrected multiple times,
As the calculated result INS is corrected, the set distance L ₁ is shortened to further improve the accuracy of the corrected calculated result INS.

13 to 15 are flowcharts showing the operation of the control device 15 in the position updating method according to the third embodiment. In each step shown in FIGS. 13 to 15, the control device 15 is operated by the program 39.

The control unit 15 controls the steps S1 to S1 described in the first embodiment as shown in FIGS.
Execute 4. After execution of step S14, as shown in FIG. 15, the control device 15 calculates the distance from the position of the submarine 30 to the position of the transponder 1 indicated by the calculation result INS _{N + 3} corrected in step S12 (step S14). S15). When the control unit 15, the calculated distance is less than the set distance _{L 2} (Step S16-YES),
The operation ends.

On the other hand, the controller 15 determines that the calculated distance is
Set distance L_TwoIf not less than (step S16-N
O), set distance L₁From the set distance L₁Shorter distance α
Set the distance minus₁(Step S1
7). The controller 15 sets the set distance L ₁Is longer than the distance α
If (step S18-YES), return to step S1.
It Alternatively, the controller 15 sets the set distance L₁Than distance α
When it is short (step S18-NO), the set distance L₁Distance
The distance α is set (step S19), and the process returns to step S1.

From the above description, in addition to the effects of the first and second embodiments, the position updating method according to the third embodiment corrects the calculation result INS a plurality of times while approaching the transponder (transponder 1). By shortening the set distance L ₁ as the calculation result INS is corrected, the position information 6 having a smaller error than in the _first and second embodiments can be updated.

(Embodiment 4) FIG. 16 is a block diagram showing the concept of a submersible 40. As shown in FIG. 16, the submersible 40 corresponds to the submersible shown in FIG.
The submersible 40 has the same configuration as the submersible 10 described in the first embodiment, but the controller 15 of the position measuring device 12 is used.
Includes a program 49, which is a computer program, instead of the program 19.

FIG. 17 is a layout diagram showing the layout of the transponders 1, 2, 3 for the submersible 40 to travel underwater. The control device 15 changes the set distance L ₂ by the program 49 before correcting the calculation result INS (the position of the submersible 10 by the inertial navigation device 11) a plurality of times, similarly to the programs 29 and 39 described above. The control device 15 uses the program 49 to change the position of the transponder (transponder 1) to which the submarine 40 is currently heading, to the next submarine 4
When the distance to the position of the transponder (transponder 2) to which 0 goes is long, it is necessary to improve the accuracy of the calculation result INS to be corrected, so the set distance L ₂ is shortened.
In this case, the set distance L ₂ corresponds to the radius of a circle centered on the transponder 1 (set distance L _{2 of the} transponder 1). The control device 15 is corrected by the program 49 when the distance from the position of the transponder (transponder 2) where the submersible ship 40 is currently heading to the position of the transponder (transponder 3) where the submersible ship 40 is heading next is short. Since it is not necessary to increase the accuracy of the calculation result INS, the set distance L ₂ is lengthened. In this case, the set distance L ₂ corresponds to the radius of a circle centered on the transponder 2 (the set distance L ₂ of the transponder 2), and the submersible 40 does not need to come too close to the transponder 2,
Little loss of cruising distance.

18 to 21 are flowcharts showing the operation of the control device 15 in the position updating method according to the fourth embodiment. In each step shown in FIGS. 18 to 21, the controller 15 is operated by the program 49.

As shown in FIG. 18, the controller 15
Calculates the distance from the position of the transponder (transponder 1) where the submersible ship 40 is currently heading to the position of the transponder (transponder 2) where the next submersible ship 40 is heading, when the submersible ship 40 is heading toward transponder 1. Yes (step S20). Controller 15 is longer than the distance calculated reference step S20 (step S21-YES), the set distance L ₂ of the transponder 1, setting the distance obtained by subtracting a short distance β from the set distance L ₂ distance L ₂ and then (step S25), and shown in FIGS. 19 to 21, the step described in the third embodiment S1
~ S19 is executed. Alternatively, steps S17, S18,
When S19 is not executed, the control device 15 proceeds to step S
25, the step S1 described in the second embodiment is executed.
~ S16 is executed, and in the case of step S16-NO, the process returns to step S1.

As a result, the position updating method according to the fourth embodiment has the transponder 1 in addition to the second and third embodiments.
When the distance from the position of 1 to the position of the transponder 2 is long, by shortening the set distance L ₂ of the transponder 1, the position information 6 having a smaller error than in the _second and third embodiments can be updated.

Further, when the submersible 40 is heading for the transponder 2, the controller 15 moves from the position of the transponder (transponder 2) where the submersible 40 is currently heading to the transponder (transponder 3) to which the submersible 40 is next heading. ) Is calculated (step S)
20). Controller 15 is shorter than the distance calculated reference step S20 (step S21-NO, Step S22-YES), the set distance _{L 2} of the transponder 2, legs a short distance β from the set distance _{L 2} The set distance is set as the set distance L ₂ (step S24), and
1 and described in Embodiment 3 from step S1.
S19 is executed. Or, steps S17, S18, S
If step 19 is not executed, the control device 15 determines that the step S2
After execution of step 4, steps S1 to S1 described in the second embodiment are performed.
S16 is executed, and if step S16-NO, the process returns to step S1.

As a result, in addition to the second and third embodiments, the position updating method according to the fourth embodiment includes the transponder 2
When the distance from the position of the transponder 3 to the position of the transponder 3 is short, by increasing the set distance L ₂ of the transponder 2, it is not necessary for the submersible 40 to approach the transponder 2 too much, and the loss of the distance that the submersible ship 40 travels Can be reduced.

Further, when the submersible 40 is heading for the transponder 3, the control device 15 moves from the position of the transponder (transponder 3) where the submersible 40 is currently heading, to the transponder to which the next submersible 40 is directed (not shown). The distance to the position of the transponder) is calculated (step S20). When the distance calculated in step S20 is the reference (step S21-N).
O, Step S22-NO), without changing the set distance _{L 2} of the transponder 3 (step S23), FIG. 19
Step S shown in FIG. 21 and described in the third embodiment
1 to S19 are executed. Alternatively, steps S17 and S1
If S8 and S19 are not executed, the control device 15 executes steps S1 to S16 described in the second embodiment after execution of step S23, and if step S16-NO,
Return to step S1.

As described above, in addition to the effects of the _second and third embodiments, the position updating method according to the fourth embodiment has a further difference from the _second and third embodiments by changing the set distance L _2. The position information 6 having a small value can be updated.

[0081]

The position updating method of the present invention can update position information having a smaller error.

[Brief description of drawings]

FIG. 1 is a layout diagram showing a layout of a plurality of transponders for a submersible to navigate underwater.

FIG. 2 is a block diagram showing the concept of a submersible in the position updating method according to the first embodiment.

FIG. 3 (a) is a diagram showing a concept for correcting the position of the submersible, and FIG. 3 (b) is an arrangement showing arrangement of transponders for the submersible to travel underwater. It is a figure.

FIG. 4 is a flowchart showing an operation of the control device in the position updating method according to the first embodiment.

FIG. 5 is a flowchart showing an operation of the control device in the position updating method according to the first embodiment.

FIG. 6 is a flowchart showing an operation of the control device in the position updating method according to the first embodiment.

FIG. 7 is a block diagram showing the concept of a submersible in the position updating method according to the second embodiment.

FIG. 8 is a layout diagram showing a layout of transponders for a submarine to travel underwater.

FIG. 9 is a flowchart showing an operation of the control device in the position updating method according to the second embodiment.

FIG. 10 is a flowchart showing an operation of the control device in the position updating method according to the second embodiment.

FIG. 11 is a flowchart showing an operation of the control device in the position updating method according to the second embodiment.

FIG. 12 is a block diagram showing the concept of a submersible in the position updating method according to the third embodiment.

FIG. 13 is a flowchart showing an operation of the control device in the position updating method according to the third embodiment.

FIG. 14 is a flowchart showing an operation of the control device in the position updating method according to the third embodiment.

FIG. 15 is a flowchart showing an operation of the control device in the position updating method according to the third embodiment.

FIG. 16 is a block diagram showing the concept of a submersible in the position updating method according to the fourth embodiment.

FIG. 17 is a layout diagram showing a layout of transponders for a submersible to travel underwater.

FIG. 18 is a flowchart showing an operation of the control device in the position updating method according to the fourth embodiment.

FIG. 19 is a flowchart showing an operation of the control device in the position updating method according to the fourth embodiment.

FIG. 20 is a flowchart showing an operation of the control device in the position updating method according to the fourth embodiment.

FIG. 21 is a flowchart showing an operation of the control device in the position updating method according to the fourth embodiment.

[Explanation of symbols]

1, 2, 3 transponder 4 first sound wave 5 Second sound wave 6 location information 10 submersible 11 Inertial navigation system 12 Position measuring device 13 Gyro device 14 Acoustic Homing Sonar 15 Control device 16 Display 17 transmitter 18 receiver 19 programs 20 submersible 29 programs 30 submersible 39 programs 40 submersible 49 programs INS calculation result Snd positioning result Pos correction position A estimated position B error C correction position

Continued front page    F term (reference) 2F029 AA04 AB03 AC03 AC09 AC16                       AD04                 5J083 AA03 AC07 AC29 AD03 AD04                       AE03 AF18 AG02 BE20 DB02                       EA00

Claims (23)

[Claims] 1. A position updating method for updating the position of a submarine traveling underwater toward a first transponder among a plurality of transponders provided at a predetermined position on the seabed, wherein the submersible Has position information indicating the position of the submersible, calculates the position of the submersible based on the angular velocity when the submersible travels in water, and indicates the calculated position of the submersible. An inertial navigation device that generates a calculation result, a position measuring device, and a display device are provided, and (a) the position measuring device moves the position of the submarine with respect to the first transponder N times (N is 1 or more). Positive number) measuring and generating N positioning results indicating the measured position of the submarine; and (b) correcting the calculation result based on the N positioning results by the position measuring device. With steps By (c) said position measuring apparatus, as the corrected positional information of the calculation result was a step of the location information to control the inertial navigation system to be updated,
(D) controlling the display device so that the position measuring device displays the updated position information by the inertial navigation device. 2. The position updating method according to claim 1, wherein in the step (a), (e) the N positioning results are calculated by the position measuring device as positioning results {Snd (i) |
Snd (i) = Snd (1), Snd (2), ..., Sn
d (N)}, and (f) the position measuring device calculates the calculation result from the inertial navigation device at the time when the positioning result {Snd (i)} is generated {INS ( i) | INS (h) = INS
(1), INS (2), ..., INS (N)}, and the step of (b) above includes:
(G) The positioning result {Sn
At the N-th time when the positioning result {Snd (N)} of the d (i)} is generated, the following formula: Pos (i) = Snd (i) + {INS (N) -INS (i). } The step of calculating a corrected position {Pos (i)} for correcting the position of the submarine by (), and (h) the position measuring device: A = {Pos (1) + Pos (2) Estimated position A for estimating the position of the submarine by + ... + Pos (N)} / N
And (j) based on the estimated position A by the position measuring device, the calculation result {INS (i)} of the calculation results {INS (i)} collected at the N-th time. )} Is corrected as the corrected calculation result. 3. The position updating method according to claim 2, wherein the step (j) is performed by (k) the position measuring device according to the following formula: B (i) = A- {Pos (i)}. , The estimated position A and the corrected position {Pos
Calculating an error {B (i)} from (i)},
(L) The error {B
(I)} is present in the first set distance by a prescribed number or more, the calculation result {INS is obtained by averaging the corrected positions corresponding to the respective errors existing in the first set distance.
(M) a step of calculating a correction position C for correcting the correction position C, and (m) the position measurement device calculates the calculation result {INS (N)} based on the correction position C by the corrected calculation. The position updating method further comprising the step of: correcting as a result. 4. The position updating method according to claim 3, wherein in the step (l), (n) the error {B (i)} is within the first set distance by the position measuring device. When there are M (M is represented by any one of 1 to N) as the prescribed number, the M errors {B
(I)} corresponding to M correction positions {Pos
(I)} is added, and the added M correction positions {P
The position updating method further comprising the step of calculating the corrected position C by dividing os (i)} by the M. 5. The position updating method according to claim 3 or 4, wherein (o) when the error {B (i)} does not exist in the predetermined number within the first set distance, the position measuring device , The positioning result {Snd (i)} is the following formula: Snd (i) = Snd (i + 1), and the calculation result {INS (i)} is the following formula: INS (i) = INS (i + 1) , Step (e), step (f), step (g), step (h), step (j), step (k), The position updating method further comprising the step (l) and the step (m). 6. The position updating method according to any one of claims 1 to 5, wherein (p) from the position of the submarine indicated by the corrected calculation result by the position measuring device, Calculating a distance to the predetermined position of the transponder, (q) when the distance is not within a second set distance, the position measuring device performs the step (a), and the step (b). The position updating method further comprising the steps of :, the step of (c), the step of (d), and the step of (p). 7. The position updating method according to claim 6, wherein (r) when the distance is not within a second set distance, the position measuring device causes the first set distance to be subtracted from the first set distance. The position updating method further comprising: performing the step (q) with a distance obtained by subtracting a short third set distance as the first set distance. 8. The position updating method according to claim 7, wherein (s) when the first set distance is shorter than the third set distance, the position measurement device sets the first set distance to the third set distance. The position updating method further comprising performing the step (q) as a distance. 9. The position updating method according to any one of claims 6 to 8, wherein (t) the position measuring device causes the submarine to move from the predetermined position of the first transponder to the next position. Calculating the inter-transponder distance to the predetermined position of the second transponder different from the first transponder among the plurality of transponders heading toward Changing the second set distance based on
The position updating method further comprising: performing the step (b), the step (c), the step (d), and the step (p). 10. The position updating method according to claim 9, wherein in the step (u), (v) when the inter-transponder distance is longer than a reference by the position measuring device,
A fourth distance shorter than the second set distance from the second set distance.
A distance obtained by subtracting a set distance is set as the second set distance, the step (a), the step (b), the step (c), the step (d), and the step (p). The method for updating a position, further comprising: 11. The position updating method according to claim 9, wherein in the step (u), (w) the position measuring device causes the inter-transponder distance to be shorter than a reference,
The step of (a), the step of (b), the step of (c), in which a distance obtained by adding a fourth set distance shorter than the second set distance to the second set distance is set as the second set distance. Position updating method, further comprising the steps of: (a), step (d), and step (p). 12. A computer program for updating the position of a submarine traveling underwater toward a first transponder among a plurality of transponders provided at a predetermined position on the seabed, wherein the submarine comprises: Has position information indicating the position of the submersible, calculates the position of the submersible based on the angular velocity when the submersible travels in water, and calculates the position of the calculated submersible. An inertial navigation device that generates a result, a position measurement device, and a display device are provided, and (a) the position of the submarine with respect to the first transponder is measured N times (N is a positive number of 1 or more), and Generating N positioning results indicating the measured position of the submersible, (b) correcting the calculation result based on the N positioning results, and (c) generating the corrected calculation result. The position As a report, a step of controlling the inertial navigation device so that the position information is updated, and (d) a step of controlling the display device so that the updated position information is displayed by the inertial navigation device. A computer program for causing the position measuring device to execute the method comprising: 13. The computer program according to claim 12, wherein in the step (a), (e) the N positioning results are calculated as a positioning result {Snd (i) | Snd (i) = Snd.
(1), Snd (2), ..., Snd (N)}, and (f) the positioning result {Snd (i)}.
The calculation result {INS (i) | INS (i) = INS from the inertial navigation device at the time of generating
(1), INS (2), ..., INS (N)}, and further causing the position measuring device to execute the method, and the step (b) includes (g) the positioning result { Snd
At the N-th time when the positioning result {Snd (N)} of (i)} is generated, the following formula: Pos (i) = Snd (i) + {INS (N) -INS (i)}. And (h) the following equation: A = {Pos (1) + Pos (2) + ... + Pos (N)} for calculating the corrected position {Pos (i)} for correcting the position of the submarine. / N, the estimated position A for estimating the position of the submarine
And (j) the calculation result {INS collected at the N-th time based on the estimated position A.
(I)} correcting the calculation result {INS (N)} as the corrected calculation result, the computer program further causing the position measuring device to execute a method. 14. The computer program according to claim 13, wherein the step (j) includes (k) the estimated position A and the estimated position A according to the following formula: B (i) = A- {Pos (i)}. Correction position {Pos
Calculating an error {B (i)} from (i)},
(L) When the error {B (i)} is present in a predetermined number or more within the first set distance, the calculation is performed by averaging the corrected positions corresponding to the respective errors present in the first set distance. Correction position C for correcting the result {INS (N)}
And a step of: (m) correcting the calculation result {INS (N)} as the corrected calculation result based on the correction position C. A computer program that lets you. 15. The computer program according to claim 14, wherein the step (l) includes (n) the error {B (i)}.
Exists in the first set distance by M (M is represented by any one of 1 to N) as the prescribed number,
The M correction positions {Pos (i)} corresponding to the M errors {B (i)} are added, and the added M correction positions {Pos (i)} are divided by the M. By doing so, a computer program for causing the position measuring device to further execute the method including the step of calculating the corrected position C. 16. The computer program according to claim 14 or 15, wherein (o) when the error {B (i)} does not exist in the predetermined number within the first set distance, the positioning result {Snd
Let (i)} be the following formula: Snd (i) = Snd (i + 1), and the calculation result {INS (i)} be the following formula: INS (i) = INS (i + 1) Step, step (f), step (g), step (h), step (j), step (k), and step (l) A computer program further causing the position measuring device to execute a method comprising the steps of: (m). 17. The computer program according to claim 12, wherein (p) from the position of the submarine indicated by the corrected calculation result, to the first
Calculating a distance to the predetermined position of the transponder, (q) when the distance is not within a second set distance, the step (a), the step (b), the step (b), A computer program for causing the position measuring device to further execute a method including the steps of c), the step of (d), and the step of (p). 18. The computer program according to claim 17, wherein (r) when the distance is not within the second set distance, a third set distance shorter than the first set distance is subtracted from the first set distance. A computer program that causes the position measuring device to further execute a method including a step of executing the step (q) with the distance set as the first set distance. 19. The computer program according to claim 18, wherein (s) when the first set distance is shorter than the third set distance, the first set distance is set as the third set distance, and (q) is set. A computer program further causing the position measuring device to execute the method including the step of performing the step of. 20. The computer program according to any one of claims 17 to 19, wherein (t) the first
Calculating an inter-transponder distance from the predetermined position of the transponder to the predetermined position of a second transponder different from the first transponder of the plurality of transponders to which the submarine is heading next And (u) changing the second set distance based on the distance between the transponders, the step (a), the step (b), the step (c), and the step (d). And a computer program for causing the position measuring device to further execute a method including the steps of: and (p). 21. The computer program according to claim 20, wherein in the step (u), (v) when the distance between the transponders is longer than a reference, the step is shorter than the second set distance from the second set distance. A distance obtained by subtracting a fourth set distance is set as the second set distance, the step (a), the step (b), the step (c), the step (d), and the ( A computer program further causing the position measuring device to execute a method including the step of p). 22. The computer program according to claim 20 or 21, wherein the step (u) comprises:
(W) When the distance between the transponders is shorter than the reference,
The step of (a), the step of (b), the step of (c), in which a distance obtained by adding a fourth set distance shorter than the second set distance to the second set distance is set as the second set distance. A computer program for causing the position measuring device to further execute the method including the steps of (1), (d), and (p). 23. A submersible that sails underwater toward a first transponder of a plurality of transponders provided at a predetermined position on the seabed, and has position information indicating the position of the submersible. An inertial navigation device that calculates the position of the submersible based on the angular velocity when the submersible travels in water, and generates a calculation result indicating the calculated position of the submersible; and the first transponder. The position of the submarine with respect to
A position measuring device that measures N times (N is a positive number of 1 or more), generates N positioning results indicating the measured position of the submarine, and corrects the calculation result based on the N positioning results. A display device, the position measuring device controls the inertial navigation device so that the position information is updated with the corrected calculation result as the position information, and the position information is updated by the inertial navigation device. A submersible for controlling the display device so that the displayed position information is displayed.