JP3388688B2 - Acoustic positioning device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an acoustic positioning device for measuring the position of an underwater object using sound waves.

[0002]

2. Description of the Related Art Conventionally, as a technique in such a field,
For example, there was one disclosed in the literature name: Ocean Acoustics (Basics and Applications), Ocean Acoustics Society, pp. 209-213. FIG. 5 is a block diagram of such a conventional acoustic positioning device. In this figure, 101 is an arithmetic control unit, 102 is an oscillation circuit, and 10
3 is an amplifier, 104 is a transmitter, 105 is underwater, 106 is a transponder, 107 is a seabed, 108 is a receiver array, 109 is an amplifier, 110 is SSBL (Super)
Short Base Line) receiver 111 is a display.

As shown in FIG. 5, a transmission timing is created by an arithmetic control unit 101, a transmission pulse (interrogation signal) of a burst wave is created by an oscillation circuit 102, an amplifier 103 amplifies it to a certain level, and a transmission signal is sent. Added to the vessel 104. The wave transmitter 104 converts an electric signal into an ultrasonic signal, and
Send to 5. The interrogation signal propagating in the underwater 105 is received by the transponder 106 installed on the seabed 107, and is transmitted again after a fixed time.

The response signal from transponder 106 is received by receiver array 108, the ultrasonic signal is converted to an electrical signal and applied to amplifier 109. Amplifier 10
It is amplified to a constant level at 9 and added to the SSBL receiver 110. The SSBL receiver 110 includes the receiver array 10
The incident angle is measured from the phase difference between the signals input to the respective wave receiving elements of No. 8. Further, an inquiry signal is transmitted from the wave transmitter 104, and the wave receiver array 10 is transmitted via the transponder 106.
The propagation time until the signal is received at 8 is measured, and the direct distance between the transponder 106 and the receiver array 108 is measured. The incident angle and the direct distance measured by the SSBL receiver 110 are input to the arithmetic control unit 101, converted into the coordinate system as the center of the ship, and displayed on the display unit 111.

[0005]

By the way, since the ultrasonic signal has a property of being rapidly attenuated by bubbles, it is necessary to mount the receiver array 108 at a place where bubbles are unlikely to occur. In addition, since the acoustic positioning device measures the phase difference of the received signal to obtain the incident angle, the S / N ratio is also important, and the screw for forward / backward movement and the thruster provided to move the ship laterally are also important. It is desirable to install it as far away as possible from noise sources such as.

Since the observation ship stops and observes at a fixed place, the operation of its screw and thruster is not constant unlike a ship that normally sails, and the place where bubbles and noise are small is not constant. Therefore, it is installed in the place where the generation of bubbles and noise is minimized in all operating conditions. However, when many acoustic devices are used together, it is extremely difficult to satisfy both conditions within the limited hull structure, and as a result, the performance of the acoustic positioning device cannot be fully demonstrated. However, there are drawbacks that the accuracy is lowered due to the influence of noise and bubbles, the measurement range is narrowed, and in the worst case, the measurement becomes impossible.

The present invention eliminates the above-mentioned problems and enables reception under the best conditions depending on the situation of noise and bubbles in the hull, and reduces the influence of noise and bubbles in the hull. It is an object to provide an acoustic positioning device that can perform.

[0008]

In order to achieve the above-mentioned object, the present invention provides: [1] In an acoustic positioning device, a plurality of wave receiver arrays installed at a distance from the hull, and a plurality of the wave receiver arrays. An SSBL receiver connected to each of the receiver arrays, simultaneously measuring the signal level and the ambient noise level input from the receiver array, and selecting a desired one of the plurality of receiver arrays. Positioning data determination means that adopts the data of the receiver array that outputs the level data is provided.

[2] In the acoustic positioning device, a plurality of wave receiver arrays installed at a distance from the hull and LBL (Long B) connected to each of the wave receiver arrays.
an array line receiver, which simultaneously measures the signal level and the ambient noise level input from the receiver array, and outputs data of a desired level among the plurality of receiver arrays. A positioning data determination means that uses the data of the wave array is provided.

[3] In the acoustic positioning device according to the above [1] or [2], the positioning data determination means measures a signal level and an ambient noise level input from the receiver array, and the signal level. The data on the larger side or the data on the smaller noise level is adopted as the positioning data. [4] In the acoustic positioning device according to [1] or [2], the positioning data determination unit measures a signal level and an ambient noise level input from the wave receiver array,
This signal level / ambient noise level is calculated, and the data on the side having a large signal level / ambient noise level ratio is adopted as positioning data.

[5] In the acoustic positioning device according to the above [1], [2], [3] or [4], the signal level is measured by a filter that allows a response signal to pass therethrough, while at a frequency near the response frequency. A circuit for measuring the ambient noise level is provided by a filter that does not pass the response frequency.

[0012]

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is a block diagram of an acoustic positioning device showing a first embodiment of the present invention. As shown in this figure, 1 is a calculation control unit, 2 is an oscillation circuit, 3
Is an amplifier, 4 is a transmitter, 5 is underwater, 6 is a transponder, 7 is a seabed, 8 is a first receiver array, 9 is a second receiver array, and these receiver arrays are Although not shown, a plurality of wave receiver elements are arranged in a plane in a grid pattern. 10, 11 are amplifiers, 12, 13
Is an SSBL receiver, 14, 15, 16, and 17 are filters, 18, 19, 20, and 21 are detectors, and 22 is a display. Here, the filters 14 and 15 are filters that pass the response signal frequency from the transponder 6,
Reference numerals 16 and 17 are filters which are slightly apart from the response signal frequency from the transponder 6 and pass the signal in a band of a certain width, but do not pass the response frequency.

In FIG. 1, a transmission timing is created by an arithmetic control unit 1, a transmission pulse (interrogation signal) of a burst wave is created by an oscillating circuit 2, an amplifier 3 amplifies it to a certain level, and it is added to a wave transmitter 4. To be The wave transmitter 4 converts an electric signal into an ultrasonic signal and sends it to the underwater 5. The interrogation signal propagating in the water is sent again by the transponder 6 installed on the seabed 7 after a fixed time.

The response signal is received by the first wave receiver array 8 and the second wave receiver array 9, and the ultrasonic signal is converted into an electric signal again. This signal is amplified to a constant level by amplifiers 10 and 11. The SSBL receivers 12 and 13 measure the angle of incidence on the receiver array from the phase difference between the receivers. Further, the direct distance from the transponder 6 to the wave receiver arrays 8 and 9 is measured from the propagation time from the transmission of the inquiry signal from the wave transmitter 4 to the reception of the wave receiver arrays 8 and 9 via the transponder 6. .

On the other hand, one of the arrays of the first receiver array 8
The signal of the element is detected by the wave detector 18 through the filter 14, the level is converted to the digital value S1, and the signal is input to the arithmetic control unit 1. In addition, the detector 2 through the filter 16
The signal is detected at 0, the level is converted into a digital value N1, and the result is input to the arithmetic control unit 1. In this case, since the filter 16 is outside the response frequency, the noise level is in the vicinity of the response frequency and in the vicinity of the first receiver array 8.

The signal of the second wave receiver array 9 is detected by the wave detector 19 after passing through the filter 15, the level is converted to the digital value S2, and the digital value S2 is input to the arithmetic control unit 1. Further, the signal is detected by the wave detector 21 through the filter 17, and the level is converted into a digital value by the arithmetic control unit N2 and input to the arithmetic control unit 1. In this case, since the filter 17 is outside the response frequency, the noise level is near the response frequency and near the second receiver array 9.

The arithmetic control unit 1 obtains S1 / N1 and S2 / N2 for calculating the respective S / N ratios, and determines the one with the larger ratio. When S1 / N1> S2 / N2, the data of the SSBL receiver 12 is adopted. S1 / N1 <S2 / N2
In the case of, the data of the SSBL receiver 13 is adopted. However, when S1 / N1 = S2 / N2, either one is adopted. Convert the data to a coordinate system centered on the ship, and further correct the mounting position of the receiver array,
It is displayed on the display 22.

FIG. 2 is an equipment diagram of an acoustic positioning device showing a first embodiment of the present invention. As shown in this figure, the hull 31 is provided with a screw 32 for moving in the front-rear direction, a first thruster 33 and a second thruster 34 for moving in the lateral direction, and the transmitter 35 is It is assumed that the first wave receiver array 36 is installed near the center of the hull 31, the first wave receiver array 36 is installed near the bow of the hull 31, and the second wave receiver array 37 is installed near the stern of the hull 31. 40 undersea in 39 underwater
It is assumed that the transponder 38 is installed above.
Although not shown, any of the wave receiver arrays is formed by arranging a plurality of wave receiver elements in a plane in a grid pattern.

Therefore, the interrogation signal transmitted from the wave transmitter 35 is received by the transponder 38, is again transmitted after a fixed time, and is received by the first wave receiver array 36 and the second wave receiver array 37. Then, the position of the transponder 38 is determined by being processed by the acoustic positioning device shown in FIG. When the screw 32 and the first and second thrusters 33 and 34 are operated separately or in conjunction with each other, the noise levels near the first wave receiver array 36 and the second wave receiver array 37 are respectively It depends on the driving situation.

By operating the screw 32 and the first thruster 33, bubbles are generated and the signal from the transponder 38 is attenuated. However, the first
Since the wave receiver array 36 and the second wave receiver array 37 of the first wave receiver array 36 and the second wave receiver array 37 are attached to the hull 31 at different positions, the transponder 38 of the first wave receiver array 36 and the second wave receiver array 37 is The reception level of the response signal is different.

As described above, according to the first embodiment, a plurality of wave receiver arrays (here, two) are arranged at different locations on the hull.
It is designed to be attached. Depending on the mounting position (mounting location), the reception level of the receiver array differs and the ambient noise level also differs. For example, when only the screw 32 is being moved, the first receiver array 36 farther away from the second receiver array 37 near it produces less bubbles and produces less noise.

Further, when the thruster 1 is moved, the second receiver array 37 farther away from the first receiver array 36 which is closer to the second receiver array 37 generates less bubbles, and the surrounding noise level is also higher. Few. As described above, the bubble generation and the noise level are different depending on the operating condition of the mechanism of the ship, and in any case, the receiving condition of either one of the receiver arrays is advantageous.

When the noise level becomes large in the first wave receiver array 36 and measurement becomes impossible, the measurement can be continued by switching to the second wave receiver array 37. In this way, the receiver array with different mounting positions receives
By comparing the signal level, ambient noise level, and S / N ratio, and adopting the data from the receiver that was received in good condition, it is possible to receive in the best condition according to the situation of the hull noise occurrence. It is possible to reduce the influence of hull noise and the generation of bubbles.

Next, a second embodiment of the present invention will be described. FIG. 3 is a block diagram of an acoustic positioning device showing a second embodiment of the present invention. In this embodiment, as shown in FIG.
In the acoustic positioning device of the first embodiment (see FIG. 1), the filters 14 and 15 and the detectors 18 and 19 are omitted. Since the other points are the same as those in the first embodiment, the same reference numerals are given and the description thereof will be omitted.

When the hull noise influences the performance of the positioning device, and when the bubbles are not generated much, the signal level input to the receiver array does not change so much. Therefore, the arithmetic control unit 1 has N1 and N2. Judgment is made only by the noise level of. That is, the data of the SSBL receiver on the low noise level side is adopted. In this way, the noise level around the receiver array is measured, and the SSB on the low noise level side is measured.
By adopting the data of L receiver,
The influence of the operation of the thruster can be reduced.

FIG. 4 is a block diagram of an acoustic positioning system showing a third embodiment of the present invention. In this embodiment, as shown in FIG. 4, the SSBL receivers 12 and 13 in the first embodiment are used.
Instead of the above, LBL receivers 51 and 52 are used. This LBL system is made by transponders by installing at least three transponders 61, 62, 63 on the seabed and measuring the direct distance (slant range) between the onboard receiver and each transponder. Find the position of the receiver as seen from the coordinate system. The other points are similar to those of the first and second embodiments.

The present invention can have the following usage forms. Although the transponder is used as the sound source in the first, second, and third embodiments, the effect is the same even if the responder or the pinger is used as the sound source of the acoustic positioning device. Although the screw and the thruster have been described as the noise sources, the hull radiation noise is originally generated from the engine, the water supply pump, and the like, and the hull radiation noise does not change the effect described in the present invention.

Further, the method of switching two receiver arrays has been described, but the operation and effect are the same even if there are a plurality of receiver arrays. The present invention is not limited to the above-mentioned embodiments, and various modifications can be made based on the spirit of the present invention, and these modifications are not excluded from the scope of the present invention.

[0029]

As described in detail above, according to the present invention, the following effects can be achieved. Since the receiver array is attached to different locations on the hull, the receiver arrays with different attachment positions are used for reception, and the signal level, ambient noise level, and S / N ratio are compared.
By adopting the receiver data received under good conditions, it is possible to receive under the best conditions according to the situation of hull noise generation, and reduce the effects of hull noise and air bubble generation. You can

Further, when the noise level becomes high in one of the wave receiver arrays and measurement becomes impossible, the measurement can be continued by switching to the other wave receiver array.

[Brief description of drawings]

FIG. 1 is a block diagram of an acoustic positioning device showing a first embodiment of the present invention.

FIG. 2 is an equipment diagram of an acoustic positioning device showing a first embodiment of the present invention.

FIG. 3 is a block diagram of an acoustic positioning device showing a second embodiment of the present invention.

FIG. 4 is a block diagram of an acoustic positioning device showing a third embodiment of the present invention.

FIG. 5 is a block diagram of a conventional acoustic positioning device.

[Explanation of symbols]

1 Arithmetic control unit 2 oscillator circuits 3,10,11 amplifier 4,35 transmitter 5,39 underwater 6,38,61,62,63 Transponder 7,40 seabed 8,36 First receiver array 9,37 Second wave receiver array 12,13 SSBL receiver 14,15,16,17 filter 18,19,20,21 Detector 22 Display 31 hull 32 screws 33 First Thruster 34 Second Thruster 51,52 LBL receiver

─────────────────────────────────────────────────── ─── Continuation of the front page (56) Reference JP-A-8-160134 (JP, A) JP-A-5-19051 (JP, A) JP-A-8-50174 (JP, A) JP-A-7- 294638 (JP, A) JP 5-45460 (JP, A) JP 4-250389 (JP, A) JP 57-211077 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) G01S 1/72-1/82 G01S 3/80-3/86 G01S 5/18-5/30 G01S 7/52-7/64 G01S 15/00-15/96 JISST file (JOIS)

Claims (5)

(57) [Claims] 1. An apparatus comprising: (a) a plurality of wave receiver arrays installed at a distance from a hull; and (b) an SSBL receiver connected to each of the wave receiver arrays. (C) Simultaneously measuring the signal level and ambient noise level input from the receiver array, and collecting the data of the receiver array that outputs the desired level data from the plurality of receiver arrays. An acoustic positioning device, comprising: an adopted positioning data determination means. 2. A plurality of receiver arrays that are installed at a distance from the hull, and (b) an LBL receiver connected to each of the receiver arrays. (C) Simultaneously measuring the signal level and ambient noise level input from the receiver array, and collecting the data of the receiver array that outputs the desired level data from the plurality of receiver arrays. An acoustic positioning device comprising a positioning data determination means to be adopted. 3. The acoustic positioning device according to claim 1, wherein the positioning data determination means measures a signal level and an ambient noise level input from the receiver array, and measures the signal level on the side where the signal level is high. An acoustic positioning device, characterized in that data or data on the side with a lower noise level is adopted as positioning data. 4. The acoustic positioning device according to claim 1, wherein the positioning data determination unit measures a signal level and an ambient noise level input from the receiver array, and the signal level / ambient noise level. Is calculated, and the data on the side having a large signal level / ambient noise level ratio is adopted as positioning data. 5. The acoustic positioning device according to claim 1, 2, 3 or 4, wherein the signal level is measured by a filter that allows a response signal to pass therethrough, while the ambient level is measured by a filter that does not pass a response frequency at a frequency near the response frequency. An acoustic positioning device having a circuit for measuring a noise level.