JP2023067304A - Underwater cruising vehicle monitor method, monitor program and monitor system - Google Patents

Abstract

To provide an underwater cruising body monitor method, monitor program and monitor system that enable more highly advanced controlling underwater cruising body in a case of controlling the underwater cruising body during underwater cruising by communication and acoustic positioning.SOLUTION: A monitor method for monitoring an underwater cruising body 20 on the basis of a behavior history, comprises: a behavior history acquisition step S1 of acquiring, via communication means 11 and 21, a behavior history including a cruising route obtained from the underwater cruising body 20 at a prescribed cycle or according to instruction signal; a positioning information acquisition step S2 of measuring a three-dimensional location of the underwater cruising body 20 by an acoustic positioning device 12, to acquire positioning information; a behavior history reproduction step S3 of comparing the behavior history with the positioning information at an identical time, correcting the behavior history based on the positioning information, and reproducing a correct behavior history; and a monitor information providing step S4 of providing the reproduced correct behavior history for monitoring the underwater cruising body 20.SELECTED DRAWING: Figure 1

Description

The present invention relates to an underwater vehicle monitoring method, a monitoring program, and a monitoring system for monitoring an underwater vehicle based on its action history.

2. Description of the Related Art When an underwater vehicle is put into a survey water area in an ocean, a lake, or the like to explore the bottom of the water, a vessel or the like on the water equipped with a control device controls the underwater vehicle.
For example, in Patent Document 1, an acoustic communication device that is provided in a water vehicle and transmits and receives information with the underwater vehicle by acoustic communication, and an acoustic positioning device that measures the position of the underwater vehicle by acoustic positioning and a storage unit as a position information holding unit that holds position information of the underwater vehicle calculated from the acoustic positioning result of the underwater vehicle by the acoustic positioning device; A route determination unit that predicts the movement route of the underwater vehicle from the position information of the vehicle, and determines the route of the watercraft so that acoustic communication with the underwater vehicle that moves along the movement route becomes possible. and a processing unit that functions as a cruise control unit that causes the watercraft to sail along the course determined by the course determination unit.
Further, in Patent Document 2, a position correction path is set in a cruising path given in advance to an underwater vehicle, which consists of a latitude detection path and a longitude detection path that intersect each other. Based on the position detected by navigation, the latitude detection route and the longitude detection route are continuously navigated, and the relative positions of the underwater vehicle and the support ship traveling on the position correction route are acoustically measured, Based on the position obtained for the support ship and the relative position obtained by acoustic positioning, the latitude and longitude at which the underwater vehicle actually traveled are obtained, and the latitude and longitude at which the underwater vehicle actually traveled are used for position correction. A method for correcting the detected position of an underwater vehicle is disclosed, in which a deviation from a route is obtained and the deviation is applied to the underwater vehicle to correct the detected position.
Further, in Patent Document 3, when the inertial navigation position has no accumulated error and the accuracy is high, the underwater vehicle is sailed along each update route in the latitude direction and the longitude direction. Acoustic positioning is performed from the ship side, and the representative value of the latitude component of the obtained acoustic positioning position is used as the latitude direction reference value, and the representative value of the longitude component of the acoustic positioning position is used as the longitude direction reference value.After that, errors accumulate in the inertial navigation position. The submersible vehicle is caused to sail again along each position update route in the latitude and longitude directions, and at this time, the representative value in the latitude direction of the acoustic positioning position obtained by acoustic positioning from the support ship side, and Underwater navigation that compares the representative value in the longitude direction of the acoustic positioning position with each reference value in the latitude and longitude directions to obtain the deviation in the latitude and longitude directions, and uses this deviation to calibrate the inertial navigation position of the underwater vehicle. A method for calibrating the position of a running body is disclosed.
In addition, in Patent Document 4, the underwater vehicle is held at a fixed point or landed on the seabed to stop relative position change with respect to the seabed. and the average of the longitudinal direction to obtain the acoustic positioning position with the statistically correct latitude and longitude of the underwater vehicle. and longitude are compared with the latitude and longitude of the acoustic positioning position to obtain the latitude and longitude deviations, respectively. and longitude data, and furthermore, the position calibration method of the underwater vehicle improves the acoustic positioning accuracy by holding the support ship near the bottom of the water during acoustic positioning and holding it near the vertical line of the underwater vehicle. disclosed.

JP 2017-165332 A Japanese Patent Application Laid-Open No. 2006-313087 JP 2011-163929 A JP 2011-163930 A

FIG. 8 is a schematic diagram of control for a conventional underwater vehicle. When the underwater vehicle 200 is an AUV (Autonomous Underwater Vehicle, a robot that autonomously travels unmanned and untethered), control by the mother ship 100 uses status confirmation by acoustic communication and position confirmation by acoustic positioning. Due to the physical constraint of using the Can not. For this reason, conventionally, a detailed cruising route (trajectory) of the underwater vehicle 200 cannot be obtained during operation. It was information that could be obtained. In this way, the conventional air traffic control only acquires point information of the position coordinates of the underwater vehicle 200 at the timing of communication and positioning, but this does not allow detection of abnormal behavior of the AUV and pinpoint observation points. It cannot be said that the control of the AUV is perfect because it cannot be determined whether it was observed.
Further, in Patent Document 1, an underwater vehicle acquires position information of the underwater vehicle based on the relative position with respect to the underwater vehicle and its own absolute position, and provides it to the underwater vehicle. Although it is described that the intermediate vehicle calibrates its own position using the position information provided, it does not correct the action history obtained from the underwater vehicle and reproduce the correct action history during operation. .
Further, Patent Document 2 discloses that when an underwater vehicle is deviated from a position correction route, a correction value is transmitted from a support ship to the underwater vehicle, and the underwater vehicle corrects its own position based on the correction value. However, it does not reproduce the correct action history during operation by correcting the action history acquired from the underwater vehicle.
Further, Patent Document 3 calibrates the inertial navigation position of an underwater vehicle using a preset update route, correcting the action history acquired from the underwater vehicle to obtain a correct action history. It is not reproducible during operation.
Further, Patent Document 4 calibrates the inertial navigation position of the underwater vehicle based on the acoustic measurement position obtained by measuring the position of the stopped underwater vehicle from a support ship. It does not reproduce the correct action history during operation by correcting the action history acquired from the body.
Accordingly, the present invention provides a monitoring method, a monitoring program, and a monitoring system that enable more advanced control of an underwater vehicle in situations where an underwater vehicle that is diving is controlled by communication and acoustic positioning. intended to provide

A monitoring method for an underwater vehicle corresponding to claim 1 is a monitoring method for monitoring an underwater vehicle based on a behavior history, wherein the behavior history including a cruising route obtained by the underwater vehicle is collected. An action history acquisition step of acquiring via a communication means based on a predetermined cycle or an instruction signal, and a positioning information acquisition step of measuring the three-dimensional position of an underwater vehicle with an acoustic positioning device and acquiring positioning information, at the same time. An action history reproduction step that compares the action history and positioning information, corrects the action history based on the positioning information and reproduces the correct action history, and provides the reproduced correct action history for monitoring the underwater vehicle. and a monitoring information providing step.
According to the present invention of claim 1, from the action history obtained by communication and the positioning information obtained by acoustic positioning, the correct position including the position of the underwater vehicle between the positioning points based on the predetermined period or the instruction signal Since the behavior history can be reproduced on the spot during operation and the correct behavior history can be provided to the operator in quasi-real time, the operator can monitor the underwater vehicle based on the provided correct behavior history and detect abnormal behavior. It is possible to perform more advanced control of underwater vehicles, such as prediction of failures by detection and judgment of deviation from the set navigation route.

In the present invention according to claim 2, in the action history reproduction step, the three-dimensional position at the time of communication by the communication means is compared with the self-position estimation result at the same time as the communication in the acquired action history, and the three-dimensional It is characterized by correcting the action history and reproducing the wake as a correct action history by estimating the time change of the error between the position and the self-position estimation result.
According to the second aspect of the present invention, the action history of the underwater vehicle between positioning points can be accurately reproduced as a wake by estimating the time change of the error.

According to the third aspect of the present invention, in correcting the action history in the action history reproducing step, the position estimation result obtained by matching the water depth data obtained by the underwater vehicle with a known topographical map of the waterbed is used. It is characterized by
According to the third aspect of the present invention, it is possible to accurately reproduce the action history of the underwater vehicle between the positioning points by taking into consideration the position estimation result obtained by comparing the water depth data and the water bottom topographic map. .

In the present invention according to claim 4, the time change of the error estimated in the action history reproduction step is accumulated, the error accumulation in the underwater vehicle is predicted, and the positioning information obtained in the positioning information obtaining step is missing or detected incorrectly. is characterized by using the prediction result of error accumulation as a substitute for the positioning information.
According to the fourth aspect of the present invention, even if the positioning information is lost or detected incorrectly, if the action history can be acquired through communication, the current By predicting error accumulation and using the prediction result instead of positioning information, the action history of the underwater vehicle between positioning points can be reproduced on the spot during operation.

According to a fifth aspect of the present invention, the communication means employs an acoustic communication system, and the communication means also serves as an acoustic positioning device to measure the three-dimensional position of the underwater vehicle.
According to the fifth aspect of the present invention, acoustic positioning can also be performed by communication means, so installation space, cost, and the like can be suppressed.

According to the sixth aspect of the present invention, when there are a plurality of underwater vehicles, in the action history acquiring step, the action history of the plurality of underwater vehicles aggregated to an arbitrary underwater vehicle is collectively acquired. Characterized by
According to the sixth aspect of the present invention, when there are a plurality of underwater vehicles to be monitored, it is possible to collectively and efficiently acquire action histories collected for arbitrary underwater vehicles.

The present invention according to claim 7 is characterized in that, when summarizing action histories for an arbitrary underwater vehicle, relative distances between the arbitrary underwater vehicle and other underwater vehicles are also summarized. do.
According to the seventh aspect of the present invention, the relative distance can be used to simplify the calculation when obtaining the position coordinates of the underwater vehicle. can be reproduced more quickly. Also, by using relative distances instead of absolute coordinates when dealing with a plurality of underwater vehicles, it is possible to reduce the number of digits and reduce the amount of communication.

The present invention according to claim 8 further comprises an underwater vehicle setting step of setting, from the monitoring side, an underwater vehicle that acquires action history and positioning information when there are a plurality of underwater vehicles. characterized by
According to the eighth aspect of the present invention, by setting the underwater vehicle that acquires the action history and the positioning information from among the plurality of underwater vehicles from the monitoring side, the amount of processing can be reduced and the It is possible to quickly reproduce the action history between positioning points of an underwater vehicle that requires careful monitoring or that is difficult to monitor.

According to the ninth aspect of the present invention, the contents of the action history including the cruising route acquired in the action history acquiring step are instructed from the side monitoring the underwater vehicle, or actions are preset in the underwater vehicle. It is characterized by further having a history content determination step.
According to the ninth aspect of the present invention, the content of the action history to be acquired is properly instructed or set according to the situation from the monitoring side, so that the content to be acquired as the action history can be accurately transferred to the underwater vehicle. Can be set.

In a monitoring program for an underwater vehicle corresponding to claim 10, the monitoring program for monitoring the underwater vehicle based on the action history, wherein the computer stores: , an action history acquisition step, an action history reproduction step, and a monitoring information provision step are executed.
According to the tenth aspect of the present invention, the method for monitoring an underwater vehicle is accurately and quickly executed, and a reproduced correct action history is provided to an operator who monitors the underwater vehicle in near-real time. can be done.

According to the eleventh aspect of the present invention, the computer receives the setting of the underwater vehicle in the underwater vehicle setting step as input information to the computer.
According to the eleventh aspect of the present invention, by setting the underwater vehicle that acquires the action history and the positioning information from among the plurality of underwater vehicles from the monitoring side, the amount of processing can be reduced and the It is possible to quickly reproduce the action history between positioning points of an underwater vehicle that requires careful monitoring or that is difficult to monitor.

The present invention according to claim 12 causes the computer to receive, as input information to the computer, an instruction from the monitoring side regarding the action history content in the action history content determination step or a preset setting for the underwater vehicle. It is characterized by
According to the twelfth aspect of the present invention, the contents of the action history to be acquired are appropriately instructed or set according to the situation from the monitoring side, so that the contents to be acquired as the action history are accurately transferred to the underwater vehicle. can be set.

An underwater vehicle monitoring system corresponding to claim 13 is a monitoring system for monitoring an underwater vehicle based on its behavior history, wherein the behavior history including the cruising route obtained by the underwater vehicle is action history acquisition means for acquiring through communication means based on a predetermined cycle or an instruction signal; positioning information acquisition means for acquiring positioning information obtained by positioning the three-dimensional position of the underwater vehicle with an acoustic positioning device; provides action history reproduction means for comparing the action history and positioning information in the watercraft, correcting the action history based on the positioning information to reproduce the correct action history, and the reproduced correct action history for monitoring the underwater vehicle. and monitoring information providing means.
According to the present invention of claim 13, from the action history obtained by communication and the positioning information obtained by acoustic positioning, the correct position including the position of the underwater vehicle between the positioning points based on the predetermined period or the instruction signal Since the behavior history can be reproduced on the spot during operation and the correct behavior history can be provided to the operator in quasi-real time, the operator can monitor the underwater vehicle based on the provided correct behavior history and detect abnormal behavior. It is possible to perform more advanced control of underwater vehicles, such as prediction of failures by detection and judgment of deviation from the set navigation route.

According to the fourteenth aspect of the present invention, the action history reproduction means compares the three-dimensional position at the time of communication by the communication means with the self-position estimation result at the same time as the time of communication in the acquired action history, and It is characterized by correcting the action history and reproducing the wake as a correct action history by estimating the time change of the error between the position and the self-position estimation result.
According to the fourteenth aspect of the present invention, the action history of the underwater vehicle between positioning points can be accurately reproduced as a wake by estimating the time change of the error.

According to the fifteenth aspect of the present invention, in the action history reproducing means, when correcting the action history, the water depth data obtained by the water depth gauge provided in the underwater vehicle and the known water bottom topographic map by the topography matching means are collated. It is characterized by using the obtained position estimation result.
According to the fifteenth aspect of the present invention, it is possible to accurately reproduce the action history of the underwater vehicle between the positioning points by taking into consideration the position estimation result obtained by comparing the water depth data and the water bottom topographic map. .

According to the sixteenth aspect of the present invention, the behavior history reproducing means accumulates the time change of the estimated error, predicts the accumulation of errors in the underwater vehicle, and detects the lack or error of the positioning information acquired by the behavior history acquisition means. It is characterized by using the prediction result of error accumulation as a substitute for positioning information when there is detection.
According to the present invention of claim 16, even if the positioning information is missing or erroneously detected, if the action history can be acquired by communication, the current By predicting error accumulation and using the prediction result instead of positioning information, the action history of the underwater vehicle between positioning points can be reproduced on the spot during operation.

A seventeenth aspect of the present invention is characterized in that the communication means employs an acoustic communication system, and the communication means also serves as an acoustic positioning device to measure the three-dimensional position of the underwater vehicle.
According to the seventeenth aspect of the present invention, acoustic positioning can also be performed by communication means, so installation space, cost, and the like can be suppressed.

According to the eighteenth aspect of the present invention, a plurality of underwater vehicles are provided, and the plurality of underwater vehicles are integrated into an arbitrary underwater vehicle through mutual communication means provided in each of the plurality of underwater vehicles. is characterized in that the action history acquisition means collectively acquires the action history of
According to the eighteenth aspect of the present invention, when there are a plurality of underwater vehicles to be monitored, it is possible to collectively and efficiently obtain action histories of arbitrary underwater vehicles.

According to the present invention as defined in claim 19, when the action history of another underwater vehicle is aggregated to an arbitrary underwater vehicle, the arbitrary underwater vehicle and the other underwater vehicle can communicate with each other through mutual communication means. are aggregated together.
According to the nineteenth aspect of the present invention, when obtaining the position coordinates of the underwater vehicle, the relative distance can be used to simplify the calculation. can be reproduced more quickly. Also, by using relative distances instead of absolute coordinates when dealing with a plurality of underwater vehicles, it is possible to reduce the number of digits and reduce the amount of communication.

According to a twentieth aspect of the present invention, the underwater vehicle has a plurality of underwater vehicles, and further comprises underwater vehicle setting means for setting the underwater vehicle for acquiring action history and positioning information from the monitoring side. Characterized by
According to the present invention of claim 20, by setting from the monitoring side the underwater vehicle that acquires the action history and the positioning information from among the plurality of underwater vehicles, the amount of processing can be reduced and the It is possible to quickly reproduce the action history between positioning points of an underwater vehicle that requires careful monitoring or that is difficult to monitor.

According to the twenty-first aspect of the present invention, the content of the action history including the navigation route acquired by the action history acquisition means is set in advance in the instruction means for instructing from the side monitoring the underwater vehicle or in the underwater vehicle. It is characterized by further comprising setting means.
According to the present invention of claim 21, the content of the action history to be acquired is appropriately instructed or set according to the situation from the monitoring side, so that the content to be acquired as the action history can be accurately transferred to the underwater vehicle. can be set.

According to the monitoring method of the underwater vehicle of the present invention, the position of the underwater vehicle between the positioning points based on the predetermined period or the instruction signal is determined from the action history obtained by communication and the positioning information obtained by the acoustic positioning. It reproduces the correct action history on the spot during operation and provides the correct action history to the operator in quasi-real time. It is possible to perform more advanced control of underwater vehicles, such as predicting failures by sensing behavior and determining deviations from the set sailing route.

Further, in the action history reproduction step, the three-dimensional position at the time of communication by the communication means and the self-position estimation result at the same time as the communication in the acquired action history are compared, and the three-dimensional position and the self-position estimation result are compared. By estimating the time change of the error in correcting the action history and reproducing the wake as a correct action history, it is necessary to estimate the time change of the error in the action history of the underwater vehicle between the positioning points. can be accurately reproduced as a wake.

Further, in the action history reproduction step, in correcting the action history, when using the position estimation result obtained by comparing the water depth data obtained by the underwater vehicle with a known water bottom topographic map, the water depth data and It is possible to accurately reproduce the action history of the underwater vehicle between positioning points by taking into account the position estimation results obtained by matching with the bottom topographic map.

In addition, by accumulating changes over time in the errors estimated in the action history reproduction step, the accumulation of errors in the underwater vehicle is predicted. When the accumulated prediction result is used as a substitute for positioning information, even if the positioning information is missing or incorrectly detected, if the action history can be obtained through communication, the time change of the error accumulated up to that point It is possible to predict the current error accumulation from the position, and use the prediction result instead of the positioning information to reproduce the action history of the underwater vehicle between the positioning points on the spot during operation.

In addition, when the communication means is an acoustic communication system and the communication means also serves as an acoustic positioning device to measure the three-dimensional position of an underwater vehicle, the communication means can also perform acoustic positioning, so the installation space is reduced. and cost can be suppressed.

Further, when there are a plurality of underwater vehicles, in the action history acquisition step, when collectively acquiring the action history of a plurality of underwater vehicles aggregated into an arbitrary underwater vehicle, the underwater vehicle to be monitored When there are a plurality of bodies, the behavior histories collected for any underwater vehicle can be collectively and efficiently acquired.

In addition, when summarizing the action history for an arbitrary underwater vehicle, if the relative distance between the arbitrary underwater vehicle and other underwater vehicles is also aggregated, the position coordinates of the underwater vehicle Since the calculation can be simplified by using the relative distance when obtaining , it is possible to more quickly reproduce the action history between positioning points of a plurality of underwater vehicles. Also, by using relative distances instead of absolute coordinates when dealing with a plurality of underwater vehicles, it is possible to reduce the number of digits and reduce the amount of communication.

Further, in the case where there are a plurality of underwater vehicles, if the monitoring side further includes an underwater vehicle setting step for setting the underwater vehicle for acquiring the action history and positioning information, the underwater vehicle can be set for a plurality of underwater vehicles. By setting from the monitoring side of the underwater vehicle that acquires action history and positioning information from the vehicle, the amount of processing can be reduced and underwater vehicles that require more careful monitoring or water that is difficult to monitor It is possible to quickly reproduce the action history between the positioning points of the medium-sized vehicle.

In addition, there is further provided an action history content determination step of instructing from the side monitoring the underwater vehicle or presetting the action history content including the navigation route acquired in the action history acquisition step to the underwater vehicle. In this case, the monitoring side appropriately instructs or sets the contents of the action history to be acquired according to the situation, so that the contents to be acquired as the action history can be accurately set in the underwater vehicle.

Further, according to the underwater vehicle monitoring program of the present invention, the operator can accurately and quickly execute the underwater vehicle monitoring method and monitor the reproduced correct action history of the underwater vehicle in quasi-real time. can be provided to

In addition, when the computer receives the setting of the underwater vehicle in the underwater vehicle setting step as input information to the computer, the water vehicle which acquires the action history and the positioning information from among the plurality of underwater vehicles. By setting from the monitoring side of the medium cruising vehicle, the amount of processing is reduced, and the action history between the positioning points of the underwater cruising vehicle that requires more careful monitoring or that is difficult to monitor can be quickly obtained. can be reproduced.

Further, when the computer receives instructions from the monitoring side regarding the contents of the action history in the action history content determination step or preset settings for the underwater vehicle as input information to the computer, the action to be acquired By appropriately instructing or setting according to the situation from the side monitoring the contents of the history, the contents to be acquired as the action history can be accurately set in the underwater vehicle.

Further, according to the monitoring system of the underwater vehicle of the present invention, based on the action history acquired by communication and the positioning information obtained by acoustic positioning, the underwater vehicle between the positioning points based on the predetermined period or the instruction signal. The correct action history including the position can be reproduced on the spot during operation, and the correct action history can be provided to the operator in near real time, so the operator can monitor the underwater vehicle based on the provided correct action history. It is possible to perform more advanced control of the underwater vehicle, such as prediction of failure by detecting abnormal behavior and determination of deviation from the set sailing route.

Further, the action history reproduction means compares the three-dimensional position at the time of communication by the communication means with the self-position estimation result at the same time as the communication in the acquired action history, and compares the three-dimensional position with the self-position estimation result. By estimating the time change of the error in correcting the action history and reproducing the wake as a correct action history, it is necessary to estimate the time change of the error in the action history of the underwater vehicle between the positioning points. can be accurately reproduced as a wake.

In addition, when correcting the action history in the action history reproducing means, the position estimation result obtained by matching the water depth data obtained by the water depth gauge provided on the underwater vehicle with the known bottom topographic map by the topographic matching means is used. In this case, the action history of the underwater vehicle between the positioning points can be accurately reproduced by taking into consideration the position estimation result obtained by comparing the water depth data and the water bottom topographic map.

In addition, in the action history reproducing means, the estimated error is accumulated over time, and the accumulation of errors in the underwater vehicle is predicted. When the prediction result of error accumulation is used as a substitute for positioning information, even if the positioning information is missing or detected incorrectly, if the action history can be obtained through communication, the time of the error accumulated up to that point By predicting the current accumulation of errors from changes and using the prediction results instead of positioning information, the action history of the underwater vehicle between positioning points can be reproduced on the spot during operation.

In addition, when the communication means is an acoustic communication system and the communication means also serves as an acoustic positioning device to measure the three-dimensional position of the underwater vehicle, the communication means can also perform acoustic positioning, so the installation space is reduced. and cost can be suppressed.

In addition, a plurality of underwater vehicles are provided, and the action history of a plurality of underwater vehicles aggregated to an arbitrary underwater vehicle is collected via mutual communication means provided in each of the plurality of underwater vehicles. When the acquisition means collectively acquires, when there are a plurality of underwater vehicles to be monitored, it is possible to collectively and efficiently acquire action histories collected for any underwater vehicle.

In addition, when the action history of other underwater vehicles is aggregated into an arbitrary underwater vehicle, the relative distance between the arbitrary underwater vehicle and other underwater vehicles is also aggregated through mutual communication means. In this case, relative distances can be used to simplify calculations when determining the positional coordinates of underwater vehicles, so it is possible to more quickly reproduce behavior histories between positioning points of multiple underwater vehicles. can. Also, by using relative distances instead of absolute coordinates when dealing with a plurality of underwater vehicles, it is possible to reduce the number of digits and reduce the amount of communication.

Further, in the case of having a plurality of underwater vehicles and further comprising underwater vehicle setting means for setting the underwater vehicle for acquiring action history and positioning information from the monitoring side, a plurality of underwater vehicles By setting from the monitoring side of the underwater vehicle that acquires action history and positioning information from inside the body, the amount of processing can be reduced and the underwater vehicle that requires more careful monitoring or the underwater vehicle that is difficult to monitor. It is possible to quickly reproduce the action history between the positioning points of the running body.

In addition, when further provided is an instruction means for instructing the content of the action history including the cruising route acquired by the action history acquisition means from the side monitoring the underwater vehicle, or a setting means for presetting the underwater vehicle. In this case, the content of the action history to be acquired can be properly set in the underwater vehicle by appropriately instructing or setting the content of the action history to be acquired according to the situation.

1 is a flowchart of a method for monitoring an underwater vehicle according to an embodiment of the present invention; A functional block diagram showing the monitoring system for the underwater vehicle by means of function implementation. Schematic diagram showing reproduction of action history by the same correction Schematic diagram showing reproduction of action history by correction using estimation of temporal change of the same error A flowchart of a method for monitoring an underwater vehicle according to another embodiment of the present invention A functional block diagram showing the monitoring system for the underwater vehicle by means of function implementation. Schematic diagram showing how the behavior histories of multiple underwater vehicles are collectively acquired and corrected to reproduce the behavior histories Schematic diagram of control for conventional underwater vehicle

A monitoring method, a monitoring program, and a monitoring system for an underwater vehicle according to embodiments of the present invention will be described.
FIG. 1 is a flow chart of a monitoring method for an underwater vehicle, and FIG. 2 is a functional block diagram showing a monitoring system for an underwater vehicle by means of function implementation.
FIG. 2 shows a state in which a plurality of underwater vehicles 20 loaded and transported on a mother ship 10 are thrown into a survey water area in the ocean, lakes, or the like, and exploration of mineral resources, energy resources, etc. is performed by exploring the bottom of the water. is shown.
The mother ship 10 controls the underwater vehicle 20, which explores the bottom of the sea underwater where radio waves do not reach, using acoustic signals. The mothership 10 is equipped with a mothership 10-side communication means 11, an acoustic positioning device 12, and an underwater vehicle monitoring system. The monitoring system includes a computer 30 having the functions of action history acquisition means 31 , positioning information acquisition means 32 , action history reproduction means 33 , and monitoring information provision means 34 .
The underwater vehicle 20 is an AUV or the like, and includes a communication means 21 on the underwater vehicle 20 side, an action history recording device 22 for recording the action history of the underwater vehicle 20, and a water depth gauge 23.
The action history recorded in the action history recording device 22 includes a cruising route (including heading and attitude) based on self-position estimation by an inertial navigation system (INS), control signals during cruising (for example, propulsion speed), environmental information (for example, topographical information) of the water and the bottom of the water collected by a sensor, etc., and water depth data obtained by the depth gauge 23.

In the action history acquisition step S1 shown in FIG. 1, the action history acquisition means 31 acquires the action history transmitted from the underwater vehicle 20 to the mother ship 10 at a predetermined cycle. Further, when the action history acquisition operation is performed by the operator, the communication means 11 transmits an instruction signal instructing the underwater vehicle 20 to transmit the action history.
The underwater vehicle 20 transmits the action history including the cruising route recorded in the action history recording device 22 from the communication means 21 to the mother ship 10 at a predetermined period or based on the instruction signal transmitted from the communication means 11. Send.
As described above, in the action history acquisition step S1, the action history acquisition means 31 acquires the action history including the cruising route obtained by the underwater vehicle 20 from the communication means 11 and 21 based on a predetermined period or an instruction signal. to get through. The action history acquiring means 31 transmits the acquired action history to the action history reproducing means 33 .

In the positioning information acquisition step S2, the positioning information acquisition means 32 acquires the positioning information obtained by positioning the three-dimensional position of the underwater vehicle 20 with the acoustic positioning device 12. FIG. The positioning information includes positioning coordinates. The positioning of the underwater vehicle 20 by the acoustic positioning device 12 is performed at intervals of several seconds to several tens of seconds, and in this embodiment, the positioning of the underwater vehicle 20 is performed when communicating the action history. The positioning information acquisition means 32 transmits the acquired positioning information to the action history reproduction means 33 .
The positioning method of the acoustic positioning device 12 is, for example, the SBL (Short Base Line) method or the SSBL (Super Short Base Line) method. In both the SBL method and the SSBL method, sound is reciprocated between the mother ship 10 and the underwater vehicle 20, the relative position from the mother ship 10 is obtained, and the underwater vehicle 20 is detected by detecting the arrival direction and distance of the sound wave. It is the same to obtain the three-dimensional position of . The difference between the SBL method and the SSBL method is determined by the size of the device, but since the principle of positioning is the same, the SSBL method is sometimes called the SBL method.

In the action history reproducing step S3, the action history reproducing means 33 compares the action history and the positioning information at the same time, corrects the action history based on the positioning information, and reproduces the correct action history.
Here, FIG. 3 is a schematic diagram showing reproduction of action history by correction. The dotted line in FIG. 3 indicates the cruising route based on the self-position estimation result, and the solid line indicates the correct trajectory reproduced by correction. The correct action history between the positioning points is reproduced by correcting the action history from the difference obtained by comparing the positioning coordinates at the time of action history communication and the self-position estimation at the same time in the acquired action history. The action history reproducing means 33 transmits the reproduced correct action history to the monitoring information providing means 34 .

In the action history reproduction step S3, the action history reproduction means 33 reproduces the three-dimensional position of the underwater vehicle 20 measured during communication by the communication means 11 and 21, and the self position at the same time as the communication in the acquired action history. It is preferable to correct the action history and reproduce the wake as a correct action history by comparing the estimation result and estimating the time change of the error between the three-dimensional position and the self-position estimation result. As a result, the action history of the underwater vehicle 20 between the positioning points can be accurately reproduced as a wake by estimating the time change of the error.
Here, FIG. 4 is a schematic diagram showing reproduction of action history by correction using estimation of temporal change in error. The dotted line in FIG. 4 indicates the cruising route based on self-position estimation, and the solid line indicates the correct trajectory reproduced by correction. By comparing the positioning coordinates at the time of action history communication with the self-position estimation at the same time in the acquired action history, the error between the self-position estimation and the positioning coordinates changes over time, and the action history is corrected. The correct track between positioning coordinates (inter-positioning track) is reproduced.
Reproduction of the correct action history is performed by correcting the position, orientation, orientation, etc. included in the action history acquired by the action history acquisition unit 31 against the positioning information acquired by the positioning information acquisition unit 32, and correcting the correct position and orientation. , and attitude, etc., and based on this correct position, orientation, attitude, etc., connect the points at each time when the acoustic positioning was performed, and reproduce the wake as a correct action history. In addition, based on the correct position, orientation, posture, etc., control signals and environmental information under the correct conditions can also be reproduced.

The action history reproduction means 33 accumulates the time change of the error estimated in the action history reproduction step S3 in a storage means (not shown), statistically processes the accumulated result of the time change of the error, and performs self-reporting of the underwater vehicle 20. It has a function to predict the error accumulation of the position estimation result. Then, the action history reproducing means 33 substitutes the prediction result of error accumulation for the positioning information when the positioning information is missing or erroneously detected in the positioning information acquisition step S2.
As a result, even if positioning information is lost or detected incorrectly, if the behavior history can be obtained through communication, the current error accumulation can be predicted from the time change of the error accumulated up to that point, and the prediction result can be obtained. can be used instead of the positioning information to reproduce the action history of the underwater vehicle 20 between the positioning points on the spot during operation. Missing positioning information also includes missing positioning information.

In the monitoring information providing step S4, the monitoring information providing means 34 provides the operator of the underwater vehicle 20 with the reproduced correct action history for monitoring the underwater vehicle 20. FIG. The correct action history is provided by the monitoring information providing means 34 by displaying it on a monitor, printing it on a predetermined sheet, or outputting it in a storable electronic file format.

In this way, a correct action history including the position of the underwater vehicle 20 between positioning points based on a predetermined cycle or an instruction signal can be obtained during operation from the action history obtained by communication and the positioning information obtained by acoustic positioning. Since it can be reproduced in the field and the correct action history can be provided to the operator in quasi-real time, the operator monitors the underwater vehicle 20 based on the provided correct action history and predicts failures by detecting abnormal actions. Also, more advanced control of the underwater vehicle 20 can be performed, such as determination of deviation from the set sailing route. Regarding the determination of deviation from the set sailing route, for example, conventionally, countermeasures against measurement omissions have been taken by setting a course through which the underwater vehicle 20 passes several times just in case, for pinpoint observation points. However, in the present invention, when it is determined that the vehicle has deviated from the target, it is possible to respond by issuing an instruction for re-observation. .
In addition, instead of correcting by sliding the entire cruising route included in the action history acquired from the underwater vehicle 20 by a uniquely given value, fine corrections are made according to the span in which communication and positioning are performed. Since the correct action history is reproduced by going, the wake can be reproduced more accurately.

Next, an underwater vehicle monitoring method, monitoring program, and monitoring system according to another embodiment of the present invention will be described. It should be noted that the same means and the like as those in the above-described embodiment are denoted by the same reference numerals, and descriptions thereof are omitted.
FIG. 5 is a flow chart of a monitoring method for underwater vehicles, FIG. 6 is a functional block diagram showing the monitoring system for underwater vehicles in terms of function implementation means, and FIG. FIG. 10 is a schematic diagram showing how behavior histories are reproduced by acquisition and correction;
The monitoring system of this embodiment further includes underwater vehicle setting means 13, instruction means 14, and setting means 15 in the mother ship 10, and mutual communication means 24 and terrain matching means 25 in the underwater vehicle 20. . It should be noted that the terrain matching means 25 is mounted on only one of the plurality of underwater vehicles 20, but can be mounted on other underwater vehicles 20 as well.
The underwater vehicle setting means 13 is operated by a monitoring person such as an operator on board the mother ship 10 . When there are a plurality of underwater vehicles 20 to be monitored, the operator or the like presets the underwater vehicle 20 for acquiring the action history and positioning information using the underwater vehicle setting means 13 (S01: underwater vehicle setting step). The underwater vehicle 20 which acquires the action history and the positioning information from among the plurality of underwater vehicles 20 is set from the monitoring side, thereby reducing the amount of processing and the underwater vehicle 20 requiring careful monitoring. Alternatively, it is possible to quickly reproduce the action history between positioning points for the underwater vehicle 20 that is difficult to monitor.
It should be noted that all of the plurality of underwater vehicles 20 can be set as the underwater vehicles 20 that acquire action history and positioning information.

The instructing means 14 and the setting means 15 are also operated by the monitoring person. The operator or the like instructs the underwater vehicle 20 using the instruction means 14, or the setting means 15, about the contents of the action history including the cruising route acquired by the action history means in the action history acquisition step S1. (S02: action history content determination step).
The action history recording device 22 records, as an action history, the navigation route based on the self-position estimation result, control signals during navigation, and environmental information such as underwater and the bottom of the water collected by various sensors. Therefore, by selecting information to be acquired in addition to the cruising route according to the situation as the content of the action history to be acquired, the content to be acquired as the action history can be accurately set in the underwater vehicle 20. .
When instructing the underwater vehicle 20 using the instruction means 14, the action history of the content based on the instruction is transmitted from the action history recording device 22 of the underwater vehicle 20 to the mother ship 10, and the setting means 15 is used. If set in advance, the action history based on the setting is transmitted from the action history recording device 22 of the underwater vehicle 20 to the mother ship 10 .

The mutual communication means 24 is provided in each of the plurality of underwater vehicles 20 and used for communication between the underwater vehicles 20 .
When there are a plurality of underwater vehicles 20 to be monitored, the operator or the like selects one or more of the plurality of underwater vehicles 20 as the information aggregation destination instead of the underwater vehicle setting step S01. can be arbitrarily selected as
Action histories are transmitted from the other underwater vehicles 20 via the mutual communication means 24 to the underwater vehicle 20 set as the aggregation destination. The underwater vehicle 20 of the aggregation destination stores the received action history of the other underwater vehicle 20 in the action history recording device 22, and based on a predetermined period or an instruction signal from the action history acquisition means 31, The action history of the self and other underwater vehicles 20 stored in the action history recording device 22 is transmitted to the mother ship 10 using the communication means 21 . Note that the communication means 21 can also serve as the mutual communication means 24 .
As a result, in the action history acquisition step S1, the action history acquisition means 31 can collectively acquire the action histories of a plurality of underwater vehicles 20 aggregated into an arbitrary underwater vehicle 20. When there are a plurality of medium cruising bodies 20, it is possible to collectively and efficiently acquire action histories collected for an arbitrary underwater cruising body 20. - 特許庁
In addition, when the behavior histories are aggregated in an arbitrarily selected underwater vehicle 20 as an aggregation destination, the relationship between the arbitrary underwater vehicle 20 and the other underwater vehicle 20 is established via mutual communication means 24. Preferably, the distances are aggregated together. When the action history and the relative distance are acquired together, the action history reproduction means 33 uses the acquired relative distance for the coordinate expression and reduces the number of digits, thereby simplifying the calculation and performing a plurality of underwater navigations. The action history between the positioning points of the body 20 can be reproduced more quickly. Also, by using relative distances instead of absolute coordinates when dealing with a plurality of underwater vehicles 20, the number of digits can be reduced to reduce the amount of communication.

The terrain matching means 25 estimates the position of the underwater vehicle 20 by comparing the bottom topography measured by the underwater vehicle 20 with a known bottom topographic map, and records the position estimation result in the action history recording device 22. .
Then, the action history acquisition means 31 (action history acquisition step S1) acquires the action history including the navigation route, the water depth data obtained by the water depth gauge 23, and the position estimation result obtained by the terrain matching means 25, The action history reproduction means 33 (action history reproduction step S3) uses the water depth data and the position estimation result to correct the action history of the underwater vehicle 20 . As a result, the action history of the underwater vehicle 20 between the positioning points can be reproduced with high accuracy, taking into consideration the position estimation result obtained by comparing the water depth data and the water bottom topographic map.

In the two embodiments described above, the communication means 11 and the acoustic positioning device 12 are provided separately. The three-dimensional position of the intermediate vehicle 20 can also be measured. In this case, since acoustic positioning can also be performed by the communication means 11, installation space, cost, and the like can be suppressed.
Further, when the mother ship 10 and the underwater vehicle 20 are connected by wire or by wireless communication such as visible light communication, the communication means 11 and 21 may be connected by a cable communication method, a visible light communication method, or the like. can also be
Also, instead of the mother ship 10, an unmanned and autonomous water vehicle can be used, and the operator can operate the water vehicle and the underwater vehicle 20 from the sea or land.

As described above, according to the monitoring method and monitoring system of the underwater vehicle of the present invention, acquisition of action history by communication from the underwater vehicle 20 is used, and acoustic positioning from the mother ship 10 is sparse. A correct navigation history such as the route taken by the underwater vehicle 20 between positioning points can be reproduced in near-real time, and more advanced control of the underwater vehicle 20 can be realized.
Further, using the acoustic positioning processing program, the computer 30 is caused to execute the positioning information acquisition step S2, the action history acquisition step S1, the action history reproduction step S3, and the monitoring information provision step S4 in the underwater vehicle monitoring method. , the underwater vehicle monitoring method can be executed accurately and quickly, and the reproduced correct action history can be provided to the operator who monitors the underwater vehicle 20 in near-real time.
Further, by causing the computer 30 to receive the setting of the underwater vehicle 20 in the underwater vehicle setting step S01 as input information to the computer 30, action history and positioning information can be obtained from among the plurality of underwater vehicles 20. Set from the monitoring side of the underwater vehicle 20 to reduce the amount of processing, and the behavior between positioning points for the underwater vehicle 20 that requires more careful monitoring or the underwater vehicle 20 that is difficult to monitor History can be reproduced quickly.
In addition, by causing the computer 30 to receive, as input information to the computer 30, an instruction from the monitoring side regarding the content of the action history in the action history content determination step S02 or a preset setting for the underwater vehicle 20, The content of the action history to be acquired can be properly instructed or set according to the situation from the monitoring side, and the content to be acquired as the action history can be accurately set in the underwater vehicle 20 .

INDUSTRIAL APPLICABILITY The present invention can be applied to controlling an underwater vehicle having a history of self-position information such as an inertial navigation system by communication and positioning. Since it is possible to reproduce the track of the track with high accuracy and provide it to the operator in quasi-real time, it is possible to control the underwater vehicle more carefully.

10 Motherships 11, 21 Communication means 12 Acoustic positioning device 13 Underwater vehicle setting means 14 Instruction means 15 Setting means 20 Underwater vehicle 21 Underwater vehicle side communication means 23 Water depth gauge 24 Mutual communication means 25 Terrain matching means 30 Computer 31 Action history acquisition means 32 Positioning information acquisition means 33 Action history reproduction means 34 Monitoring information provision means S01 Underwater vehicle setting step S02 Action history content determination step S1 Action history acquisition step S2 Positioning information acquisition step S3 Action history reproduction step S4 Monitoring Information provision step

Claims (21)

A monitoring method for monitoring an underwater vehicle based on an action history, wherein the action history including the cruising route obtained by the underwater vehicle is acquired via a communication means based on a predetermined cycle or an instruction signal. an action history acquisition step; a positioning information acquisition step of measuring the three-dimensional position of the underwater vehicle with an acoustic positioning device and acquiring positioning information; comparing the action history and the positioning information at the same time; An action history reproduction step of correcting the action history based on information to reproduce a correct action history; and a monitoring information providing step of providing the reproduced correct action history for monitoring the underwater vehicle. A method for monitoring an underwater vehicle, characterized by: In the action history reproduction step, the three-dimensional position at the time of communication by the communication means is compared with a self-position estimation result at the same time as the communication in the acquired action history, and the three-dimensional position and the 2. The monitoring of the underwater vehicle according to claim 1, wherein the action history is corrected by estimating the time change of the error from the self-position estimation result, and the wake as the correct action history is reproduced. Method. In the action history reproduction step, in correcting the action history, a position estimation result obtained by comparing water depth data obtained by the underwater vehicle with a known topographic map of the water bottom is used. The method for monitoring an underwater vehicle according to claim 1 or 2. accumulating the time change of the error estimated in the action history reproducing step, predicting the error accumulation in the underwater vehicle, and when there is a missing or erroneous detection of the positioning information obtained in the positioning information obtaining step; 3. The method for monitoring an underwater vehicle according to claim 2, or claim 3, wherein the prediction result of the error accumulation is substituted for the positioning information. 5. The apparatus according to any one of claims 1 to 4, wherein said communication means employs an acoustic communication system, and said communication means also serves as said acoustic positioning device to measure said three-dimensional position of said underwater vehicle. 2. The method for monitoring an underwater vehicle according to item 1. wherein, when there are a plurality of underwater vehicles, in the action history acquiring step, the action history of a plurality of underwater vehicles aggregated into an arbitrary underwater vehicle is collectively acquired; A monitoring method for an underwater vehicle according to any one of claims 1 to 5. 7. The method according to claim 6, wherein when the action history is aggregated for any of the underwater vehicles, relative distances between any of the underwater vehicles and other underwater vehicles are also aggregated. A method for monitoring an underwater vehicle as described. The method further comprises an underwater vehicle setting step of setting, from a monitoring side, the underwater vehicle that acquires the action history and the positioning information when there are a plurality of the underwater vehicles. A monitoring method for an underwater vehicle according to any one of claims 1 to 5. An action history content determination step of instructing from a side monitoring the underwater vehicle or presetting the action history content including the navigation route acquired in the action history acquisition step to the underwater vehicle; 9. The method for monitoring an underwater vehicle according to any one of claims 1 to 8, further comprising: A monitoring program for monitoring an underwater vehicle based on its action history,
to the computer,
The positioning information acquiring step, the action history acquiring step, the action history reproducing step, and the monitoring information providing step in the underwater vehicle monitoring method according to any one of claims 1 to 7 are executed. A monitoring program for an underwater vehicle characterized by: to the computer;
11. A program for monitoring an underwater vehicle according to claim 10, wherein the setting of said underwater vehicle in said underwater vehicle setting step according to claim 8 is accepted as input information to said computer. . to the computer;
An instruction from the monitoring side regarding the content of the action history in the action history content determination step according to claim 9 or a preset setting to the underwater vehicle is accepted as input information to the computer. 12. A program for monitoring an underwater vehicle according to claim 10 or 11. A monitoring system for monitoring an underwater vehicle based on its behavior history, wherein the behavior history including the cruising route obtained by said underwater vehicle is acquired via a communication means based on a predetermined cycle or an instruction signal. action history acquisition means; positioning information acquisition means for acquiring positioning information obtained by positioning the three-dimensional position of the underwater vehicle with an acoustic positioning device; comparing the action history and the positioning information at the same time; Action history reproduction means for correcting the action history based on information to reproduce a correct action history; and monitoring information providing means for providing the reproduced correct action history for monitoring the underwater vehicle. A monitoring system for an underwater vehicle, characterized by: The action history reproduction means compares the three-dimensional position at the time of communication by the communication means with a self-position estimation result at the same time as the communication in the acquired action history, and compares the three-dimensional position with the 14. The monitoring of the underwater vehicle according to claim 13, wherein the action history is corrected by estimating the time change of the error from the self-position estimation result to reproduce the wake as the correct action history. system. In correcting the action history in the action history reproducing means, the position estimation result obtained by comparing the water depth data obtained by the water depth gauge provided on the underwater vehicle with the known bottom topographic map by the topographic matching means is used. 15. A monitoring system for an underwater vehicle according to claim 13 or claim 14, characterized in that it is used. In the action history reproducing means, the time change of the estimated error is accumulated, and error accumulation in the underwater vehicle is predicted, and the positioning information acquired by the action history acquisition means is missing or detected incorrectly. 16. The system for monitoring an underwater vehicle according to claim 14 or claim 15, wherein the prediction result of the error accumulation is used as a substitute for the positioning information. 17. The communication means according to any one of claims 13 to 16, wherein the communication means employs an acoustic communication system, and the communication means also serves as the acoustic positioning device to measure the three-dimensional position of the underwater vehicle. 2. A monitoring system for an underwater vehicle according to item 1. having a plurality of underwater vehicles, and collecting the action history of a plurality of underwater vehicles aggregated to an arbitrary underwater vehicle through mutual communication means provided in each of the plurality of underwater vehicles; 18. A monitoring system for an underwater vehicle according to any one of claims 13 to 17, wherein said action history acquisition means collectively acquires. Relative distance between any underwater vehicle and the other underwater vehicle through the mutual communication means when the action history of the other underwater vehicle is aggregated in the arbitrary underwater vehicle 19. A monitoring system for an underwater vehicle according to claim 18, characterized in that it aggregates together. 2. An underwater vehicle setting means for setting said underwater vehicle for acquiring said action history and said positioning information from a monitoring side. A monitoring system for an underwater vehicle according to any one of claims 13 to 17. Instruction means for instructing the content of the action history including the cruising route acquired by the action history acquisition means from the side monitoring the underwater vehicle, or setting means for presetting the underwater vehicle in advance. A monitoring system for an underwater vehicle according to any one of claims 13 to 20, characterized by comprising:

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