JP2005351685A - Position measurement method for object in sea and on sea surface - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a position measurement method for accurately and serially measuring the position of an object 1 located on the bottom of the sea, the position of an object in the sea, the position of an object moving in the sea, and the position of an object having come up to the sea surface. <P>SOLUTION: This position measurement method for an object in the sea or on the sea surface is characterized by comprising: a process for calculating the coordinate position of the object by performing a process for measuring distances of an object placed on the bottom of the sea from three ultrasonic receivers disposed apart from each other in a triangular shape on a surveying ship on the sea while moving the surveying ship to three different points on the sea; and a process for measuring the direction of the object having come up to the sea surface viewed from the surveying ship and a horizontal distance to the surveying ship to display the positions of the surveying ship and the object on a monitor screen. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a method for measuring the position of an object in the sea and on the sea surface, in particular, the position of an object such as a measuring instrument installed on the seabed, the position of an object floating on the sea from the seabed, or a ROV (underwater robot) moving in the sea. And a method of measuring the position of an object levitated on the sea.

  FIG. 6 shows a conventional SBL method for measuring the position of an object such as ROV, where 1 is an object such as ROV, 2a is an ultrasonic transmitter provided on the object 1, and 3 is a sea surface 4 to support the object 1. The survey ship 5 floated above is three ultrasonic receivers arranged in a triangular shape spaced apart from each other on the bottom of the survey ship 3.

  According to this SBL method of measuring the position of an object, the coordinate position of the object can be detected by the three ultrasonic receivers 5 and based on this, the object 1 can be steered from the surveying ship 3 by wire or ultrasonic. Become.

  FIG. 7 shows a conventional method for measuring the position of an object using the LBL method. In this method, three stationary ultrasonic receivers 6a to 6c are arranged in a triangular shape spaced apart from each other on the sea floor, and the object is detected by the receiver. The coordinate position of the object 1 is detected by receiving an ultrasonic wave from the ultrasonic transmitter 2a.

A conventional method for measuring the position of an object in the sea as described above is disclosed in Patent Document 1, for example.
JP-A-7-270519 (FIG. 9)

  However, in the position measuring method based on the SBL method, since the interval between the ultrasonic receivers 5 is short, the position of the object placed on the deep sea floor cannot be measured accurately.

  Moreover, it is difficult to install the fixed ultrasonic receivers 6a, 6b, and 6c installed on the deep seabed at an accurate position on the seabed by the position measurement method using the LBL method.

  In addition, in the case of the LBL method, there is a drawback that noise such as multipath is likely to ride on sound waves.

  The present invention eliminates the above-mentioned drawbacks.

  According to the method for measuring the position of an object in the sea according to the present invention, the distance between an object placed on the seabed and three ultrasonic receivers arranged in a triangular shape at a distance from a survey ship on the sea is measured by ultrasonic waves. The distance measurement step is performed by moving the surveying ship to three different locations on the sea to calculate the coordinate position of the object.

  In addition, the method for measuring the position of an object in the sea and on the sea surface according to the present invention is between an object placed on the seabed and three ultrasonic receivers arranged in a triangular shape at a distance from a survey ship on the sea. Measuring the distance of the object with ultrasonic waves, moving the surveying ship to three different locations on the sea, calculating the coordinate position of the object, and the object floating on the sea surface from the surveying ship. It has a step of measuring the azimuth and the horizontal distance to the surveying ship and displaying the position of the surveying ship and the object on the monitor screen.

  In addition, the method for measuring the position of an object in the sea and on the sea surface according to the present invention includes an object placed on the seabed and three ultrasonic receivers arranged in a triangular shape at a distance from a survey ship on the sea. Measuring the distance of the object by ultrasonically moving the survey ship to three different locations on the sea, calculating the coordinate position of the object, and from the survey ship at the first position on the sea to the sea surface. Measuring a first azimuth of the object that has surfaced, and keeping a first straight line extending in a first azimuth direction upward from the first position of the surveying ship displayed on a monitor screen; and The survey ship is moved in a direction inclined with respect to the azimuth direction, the second azimuth of the object is measured from the survey ship after the movement, and the second azimuth extending from the survey ship after the movement in the second azimuth direction The first and second lines are displayed on the monitor screen. The intersection of the lines, characterized in that a step of the position of the object.

  According to the method for measuring the position of an object in the sea and on the sea surface according to the present invention, the position of the object 1 installed on the seabed, the position of the object in the sea, the position of the object moving in the sea, and the position of the object that has floated on the sea are accurately measured There is a great benefit that it can often be measured in series.

  Further, the position of the object can be accurately measured by reducing the influence of multipath and the like.

  In addition, the position of an object that has surfaced on the sea can be measured using only a radio direction meter, and the position can be visually recognized by displaying it on a monitor screen.

  Embodiments of the present invention will be described below with reference to the drawings.

  In the present invention, as shown in FIG. 1, an object 1 such as a structure or measuring instrument having an ultrasonic transducer 2 is installed on the seabed, and a radio wave direction is measured on the sea surface 4 in order to measure the position of the object 1. A survey ship 3 having a total of 7 and one ultrasonic transmitter / receiver 5a and two ultrasonic receivers 5b and 5c arranged in a triangular shape apart from each other on the bottom of the ship floats a plurality of artificial satellites. A GPS signal from (not shown) is received by the surveying ship 3, the coordinate position of the surveying ship 3 is calculated, and stored in a storage device (not shown).

  Also, an ultrasonic control signal is transmitted to the object 1 from the transducer 5a of the surveying ship 3 in the first position, and each of the receivers 5a of the surveying ship 3 is transmitted from the transducer 2 of the object 1. 5b and 5c transmit ultrasonic signals, and the receivers 5a, 5b and 5c of the survey ship 3 can receive ultrasonic signals Ch1 to Ch3 as shown in FIG. The time difference between the time when the composite value of the reception outputs of the receivers 5a, 5b and 5c is received and the time when the ultrasonic control signal is transmitted to the object 1 is obtained and stored. Move to a second location different from the position of the above, and calculate and store the coordinate position of the survey ship 3 and the time difference from the ultrasonic transmission to reception of the receivers 5a-5c in the same manner as described above, Move surveying ship 3 to a third location different from the first and second positions, and In this way, the coordinate position of the survey ship 3 and the time difference from transmission to reception of the receivers 5a to 5c are calculated and stored, and installed on the sea floor by a conventionally known method using the stored coordinate position and time difference. The calculated position of the object 1 is calculated.

  In the first embodiment of the present invention, as shown in FIG. 2, even if the error signals 13 are included in the ultrasonic signals Ch1 to Ch3 received by the receivers 5a, 5b and 5c of the survey ship 3, respectively. The synthesized signal 15 of the signal 14 generated at the correct time becomes a large value and can be distinguished from the error signal 13, and the influence of the error due to multipath can be reduced.

  Moreover, according to the triangulation by the big triangle formed in the 1st-3rd position, a highly accurate measurement is attained even if the water depth is large.

  Next, when measuring the coordinate position of the object 1 that has risen from the seabed and is close to the sea surface, an ultrasonic control signal is sent to the object 1 from the transducer 5a of the surveying ship 3 as shown in FIG. Transmitting and transmitting ultrasonic waves from the transducer 2 of the object 1, and transmitting and receiving the ultrasonic waves when the ultrasonic transducer 5a of the surveying ship 3 and the two ultrasonic receivers 5b and 5c receive it. The position of the floating object 1 is calculated by a conventionally known method from each time difference from the transmission of the receiver 5a to the reception of the receivers 5a, 5b, 5c, and this is repeated several times as the object 1 moves. Is repeated to calculate the trajectory of the object 1.

  In Example 2 of the present invention, as shown in FIG. 3, the direction of the object 1 that has floated on the sea is measured by catching the radio wave emitted from the object 1 by the radio direction meter 7. The horizontal distance between the survey ship 3 and the object 1 is measured by an ultrasonic distance meter or the like provided, and the position of the object 1 is calculated from the stored coordinate position of the survey ship 3.

  When the object 1 is far away from the ultrasonic wave, the coordinate position of the surveying ship 3 is calculated from the GPS information, and the radio wave azimuth meter 7 catches the radio wave emitted from the object 1 to determine its direction. 4, the XY plane at sea is displayed on the monitor screen 8 as shown in FIG. 4, the position 9 of the surveying ship 3 is displayed at the center, and the azimuth direction where the object 1 exists from the position 9. It is assumed that the extending straight line 10 is displayed.

  Next, the surveying ship 3 is moved in the direction of an angle of about 30 to 45 degrees with respect to the direction of the measured object 1, and the coordinate position of the surveying ship 3 is calculated from GPS information in the same manner as described above. The azimuth of the object 1 is measured by the radio compass 7 and the current position 11 of the survey ship 3 is displayed at the center of the XY plane on the monitor screen 8 as shown in FIG. A straight line 12 extending in the existing direction is displayed. In this way, the intersection of the straight line 10 extending from the position 9 of the surveying ship 3 before moving and the straight line 12 extending from the position 11 of the surveying ship 3 after moving becomes the position of the object 1.

  As described above, according to the present invention, the position of an object installed on the seabed, the position of an object in the sea, the position of an object moving in the sea, and the position of an object levitated on the sea can be measured in series with high accuracy. There is a big profit.

  In addition, the position of an object floating on the sea can be measured using only a radio direction meter, and the position can be visually recognized by displaying it on a personal computer screen.

It is explanatory drawing of the position measuring method of the object in the seabed in this invention. It is explanatory drawing of the ultrasonic signal received with the position measuring method of the object of FIG. It is explanatory drawing of the position measuring method of the object in the sea of this invention. It is explanatory drawing of the personal computer screen used for the position measuring method of the object on the sea surface of this invention. It is explanatory drawing of the personal computer screen used for the position measuring method of the object on the sea surface of this invention. It is explanatory drawing of the position measuring method of the object in the conventional sea. It is explanatory drawing of the other position measuring method of the object in the conventional seabed.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Object 2 Transmitter / receiver 2a Ultrasonic transmitter 3 Survey ship 4 Sea surface 5 Ultrasonic receiver 5a Ultrasonic transmitter / receiver 5b Ultrasonic receiver 5c Ultrasonic receiver 6a Fixed ultrasonic receiver 6b Fixed ultrasonic reception 6c Fixed ultrasonic receiver 7 Radio compass 8 Monitor screen 9 Position 10 Line 11 Position 12 Line 13 Error signal 14 Signal 15 Synthetic signal Ch1 Ultrasonic signal Ch2 Ultrasonic signal Ch3 Ultrasonic signal

Claims (3)

  The process of measuring the distance between the object placed on the seabed and the three ultrasonic receivers spaced apart from each other and arranged in a triangular shape on the survey ship at sea, A method for measuring the position of an object in the sea, wherein the coordinate position of the object is calculated by moving to three different locations. The process of measuring the distance between the object placed on the seabed and the three ultrasonic receivers spaced apart from each other and arranged in a triangular shape on the survey ship at sea, Moving to three different locations, and calculating the coordinate position of the object,
Measuring the azimuth of the object that has surfaced on the sea surface from the surveying ship and the horizontal distance to the surveying ship, and displaying the position of the surveying ship and the object on a monitor screen. A method for measuring the position of an object in the sea and on the sea surface. The process of measuring the distance between the object placed on the seabed and the three ultrasonic receivers spaced apart from each other and arranged in a triangular shape on the survey ship at sea, Moving to three different locations, and calculating the coordinate position of the object,
A first azimuth of the object floating on the sea surface from the survey ship at the first position on the sea is measured, and a first straight line extending in the first upper azimuth direction from the first position of the survey ship is displayed on the monitor screen The process to remain displayed above,
The survey ship is moved in a direction inclined with respect to the first azimuth, the second azimuth of the object is measured from the survey ship after the movement, and the second azimuth direction is measured from the survey ship after the movement. A method for measuring the position of an object in the sea and on the sea surface, comprising: displaying an extended second straight line on a monitor screen and setting an intersection of the first and second straight lines as the position of the object.

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