JP4830269B2 - Mooring sensor positioning method and apparatus - Google Patents

Description

  BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mooring sensor positioning method and apparatus, and more particularly to a mooring sensor positioning method and apparatus for accurately measuring the depth and position of the ocean using an LBL method (Long Base Line System) using a mooring sensor moored on a desired seabed. About.

  Conventionally, the LBL method (Long Base Line System) has been used to determine the position and depth of a sound source moored in the sea for measurement of sound wave propagation loss in the sea. The principle of this LBL method is to install three or more transponders on the seabed. Sound waves are transmitted from each transponder, and the transmitted sound is received by a sensor fixed to the moored sound source. A sound wave is transmitted immediately in response to the reception, and the round-trip propagation time when the responded sound wave is received by the transponder is measured. Then, a sphere in which the moored sound source exists is drawn based on the round-trip propagation time of the sound wave from each transponder, and the crossing point is measured as the position and depth of the moored sound source.

  Next, the configuration and operation of a conventional mooring sensor positioning method using the LBL method will be briefly described with reference to the accompanying drawings. FIG. 3 is an explanatory diagram of the LBL method which is a mooring sensor positioning method using a conventional moored sensor according to the LBL method. In FIG. 3, the sensor 11 is moored in the sea by installing the sensor 11 between a weight 12 fixed on the seabed and a float 13 connected by a cable 14. Further, by installing the transponder 21 between the plurality of weights 22 fixed on the seabed and the float 23 connected by the respective cables 24, the plurality of transponders 21 are moored in the sea. Note that three or more transponders 21 need to be installed, and three transponders 21 are shown in the drawing.

  Next, it is necessary to measure the position and depth of each installed transponder 21 in advance, which is called calibration. This is a method called a straight intersection method. As shown in FIG. 4, a ship whose position is known by GPS (Global Positioning System) or the like passes directly above the transponder 21 at a constant speed. Measure the distance to the transponder continuously while running. Then, the water depth of the transponder 21 is obtained from the point where the distance between the ship and the transponder is closest. Next, as shown in FIG. 5, the ship is moved straight so as to cross between a plurality of transponders 21 whose water depths are known, the point where the sum of the distances from the transponder 21 is minimized is determined, and the position of the transponder 21 is specified. .

  Next, the position of the sensor 11 is specified by transmitting a sound wave from each transponder 21 and receiving the sound wave by the moored sensor 11 and transmitting a sound wave from the sensor 11 as a response. The round-trip propagation time of the sound wave is calculated from the time received by the transponder 21 that transmitted the responded sound wave. This is performed for all of the plurality of transponders 21, and a sphere is drawn as a range where the sensor 11 exists from each round-trip propagation time. And the position and depth of the sensor 11 moored from the intersection of these spheres are measured.

  Prior arts related to such technical fields are disclosed in several documents. A sonobuoy (audible buoy) with a mooring device and a vertical receiver array dropped from the aircraft, etc. on the surface of the sea receives sound waves from a submarine or surface ship navigating underwater and transmits the received data to the base station via a geostationary satellite. An underwater sound data collecting device is disclosed (for example, see Patent Document 1). In addition, an underwater vehicle position detection device that acoustically measures the three-dimensional data of underwater vehicles collected by three or more transponders moored on the seabed and a plurality of float buoys on the sea surface using an LBL method, and its device A position detection method is disclosed (for example, see Patent Document 2).

Japanese Patent Laid-Open No. 4-120489 (page 4, FIG. 2) JP-A-5-297138 (page 7, FIG. 1)

  However, the conventional mooring sensor positioning method based on the LBL method as described above has the following problems. First, it is necessary to measure in advance the positions and depths of three or more transponders installed on the seabed (that is, calibration). Therefore, as described above, the distance between the transponder and the transponder is measured from the point where the distance from the transponder is closest to the transponder. Next, the ship is moved straight so that the transponders whose water depths are known cross each other, the point where the sum of the distances from the transponder is minimized is determined, and the position of the transponder is specified. However, this work takes a considerable amount of time.

  In addition, it takes considerable time to install and remove the sensors and transponders moored in the sea. Further, the moored transponder swings around due to a tidal current or the like, and an error occurs in the position obtained by calibration. Moreover, due to this error, an error occurs in the position and depth of the moored sensor, and it is difficult to obtain high measurement accuracy.

  The present invention has been made in view of the above-described problems of the prior art. In the case of using a sensor moored in the sea for measurement of acoustic propagation loss in the ocean, the present invention is not limited to the installation of the sensor moored in the sea. The installation work of the transponder for positioning the position and depth of the sensor is easy, the removal work of the mooring sensor and the transponder is unnecessary, and the position of the moored sensor caused by the transponder swinging around due to tidal current etc. It is an object of the present invention to provide a mooring sensor positioning method and apparatus that eliminate or reduce depth errors.

  In order to solve the above-described problems, the mooring sensor positioning method and apparatus according to the present invention employ the following characteristic configuration.

(1) LBL (Long
In a mooring sensor positioning method that uses a mooring sensor moored to the sea floor by the Base Line) method to measure the depth and position of the ocean where the mooring sensor is moored,
A step of dropping the mooring sensor and a plurality (three or more) of calibration sensors from an aircraft or the like; a step of transmitting and receiving sound waves between the mooring sensor and the calibration sensor; and receiving data from the calibration sensor A mooring sensor positioning method comprising: a step of analyzing the depth and position by an analysis unit.

  (2) The mooring sensor positioning method according to (1), wherein the calibration sensor receives position information and time information from a GPS (Global Positioning System) or the like and transmits the position information and the data to the analysis unit.

  (3) The mooring sensor positioning method according to (1) or (2), wherein the analysis unit analyzes the depth and position of the ocean continuously for a predetermined time.

  (4) The mooring sensor positioning method according to (1), (2), or (3), wherein the mooring sensor and the calibration sensor self-sink on the seabed after the analysis of the analysis unit is completed.

(5) A mooring sensor unit moored to a desired seabed and a mooring sensor unit having a float, and a plurality (3) each having a float located on the sea surface and a calibration sensor in the vicinity of the float. In a mooring sensor positioning device that has a calibration sensor unit of more than one) and measures the depth and position of the ocean by the LBL method,
The float of the calibration sensor unit includes a GPS receiver, and transmits the position and time information obtained from the GPS receiver together with data obtained by transmitting and receiving sound waves to and from the mooring sensor unit to the analysis unit. And mooring sensor positioning device that analyzes position.

  (6) The mooring sensor positioning device according to (5), wherein the mooring sensor unit and the calibration sensor unit are dropped from an aircraft or the like onto a desired sea surface and installed.

  (7) The mooring sensor positioning device according to (5) or (6), wherein after the measurement of the depth and position of the ocean by the analysis unit is finished, the floats of the mooring sensor unit and the calibration sensor unit are sunk and settled on the seabed. .

  According to the mooring sensor positioning method and apparatus of the present invention, the following practical effects can be obtained. That is, mooring sensor positioning can be performed easily, quickly and with high accuracy. The reason is that the mooring sensor unit and a plurality of (three or more) calibration sensor units are installed by dropping them on the sea surface selected from an aircraft or the like. In addition, positioning is performed by sending a series of instructions from the analysis unit to the calibration sensor unit. Furthermore, the analysis unit measures the depth and position continuously for a certain period of time based on the data and GPS information transmitted from the float of the calibration sensor unit. Further, the mooring sensor unit and the calibration sensor unit are self-sinking on the seabed after the measurement is completed, so that post-processing is not necessary.

  Hereinafter, preferred embodiments of a mooring sensor positioning method and apparatus according to the present invention will be described in detail with reference to the accompanying drawings.

  First, FIG. 1 is an explanatory view showing a configuration of a preferred embodiment of a mooring sensor positioning apparatus according to the present invention. The mooring sensor positioning device includes a mooring sensor unit 10 and a calibration sensor unit 40 that are dropped into the sea from an aircraft or the like, and an analysis unit 50 for data transmitted from the calibration sensor unit 40.

  As will be described in detail later, the mooring sensor positioning device of the present invention only drops the mooring sensor unit 10 and three or more types of calibration sensor units 40 from the aircraft or the like to the sea surface 31 when measuring sound wave propagation loss in the ocean. Installed naturally. Then, after the positioning is completed, the float 13 of the mooring sensor unit 10 and the float 43 of the calibration sensor unit 40 are naturally self-settled, so that the withdrawal becomes unnecessary and the operation is facilitated.

  Next, the detailed configuration of the preferred embodiment of the mooring sensor positioning apparatus according to the present invention will be described. The mooring sensor unit 10 is provided between a weight 12 fixed on the seabed, a cable 14 connected to the weight 12 at one end, a float 13 connected at the other end of the cable 14, and the weight 12 and the float 13. Sensor 11 is included. On the other hand, each calibration sensor unit constituting the calibration sensor unit 40 includes a weight 42 fixed on the seabed, a cable 44 connected at one end to the weight 42, and a float 43 connected at the other end of the cable 44. And a calibration sensor 41 provided between the weight 42 and the float 43.

  Here, the sensor 11 of the mooring sensor unit 10 is moored in the sea near the seabed 32 when the weight 12 sinks to the seabed 32. The sensor 11 has a transponder function that immediately transmits a sound wave as a response when the sound wave transmitted from each calibration sensor 41 of the calibration sensor unit 40 is received.

  On the other hand, each calibration sensor 41 of the calibration sensor unit 40 is moored in the sea by a weight 42, a float 43 and a cable 44. Further, the calibration sensor 41 has a function of transmitting itself and receiving a sound wave coming from the sensor 11 of the mooring sensor unit 10. Furthermore, the float 43 includes a GPS receiver, and has a function of measuring its own position and GPS time accurately. Therefore, the calibration sensor 41 is provided in the vicinity of the float 43 so that a difference from the position information obtained by positioning the GPS position is minimized.

  The round-trip propagation time when the calibration sensor 41 receives the response sound from the sensor 11 of the mooring sensor unit 10 transmitted from the calibration sensor 41 by the float 43 in which the calibration sensor 41 and the GPS receiver are installed. The GPS position information and time information at that time have a function of transmitting data to the analysis unit 50 mounted on the aircraft or geostationary satellite.

  Here, the analysis unit 50 calculates the distance between the sensor 11 of the mooring sensor unit 10 and the calibration sensor 41 of the calibration sensor unit 40 from the round-trip propagation time and the GPS position information acquired by the calibration sensor 41. A sphere serving as the position where the sensor 11 of the mooring sensor unit 10 is present is drawn. This is performed for each piece of information acquired by each calibration sensor 41, the intersection where the drawn spheres intersect is derived, and the position and depth of the sensor 11 of the mooring sensor unit 10 are specified.

  Next, the operation of the mooring sensor positioning device shown in FIG. 1 will be described with reference to the flowchart of FIG. FIG. 2 is a flowchart showing an example of an operation procedure of the mooring sensor positioning apparatus according to the present invention, that is, a positioning operation procedure.

  First, the mooring sensor unit 10 and the calibration sensor unit 40 are dropped from an aircraft or the like to the sea surface 31 where positioning is desired (step S1). Next, a transmission instruction is issued from the analysis unit 50 to one of the calibration sensor units 40 (step S2). The mooring sensor unit 10 receives the transmission sound from the calibration sensor unit 40 and immediately transmits it as a response (step S3).

  Next, the calibration sensor unit 40 receives the transmission sound returned from the mooring sensor unit 10 (step S4). Then, the position information, the round-trip propagation time, and the time information of the calibration sensor unit 40 are transmitted to the analysis unit 50 (step S5). This data transmission is performed for every three calibration sensors 41 of the calibration sensor unit 40, for example.

  Next, the analysis unit 50 calculates the position and depth of the mooring sensor 11 of the mooring sensor unit 10 based on the information acquired by each calibration sensor 41 of the calibration sensor unit 40 (step S6). Here, the position and depth of the mooring sensor 11 can be calculated continuously by performing the above-described steps S2 to S6 a plurality of times as desired.

  Finally, when the preset time after the end of the measurement is reached, the mooring sensor unit 10 and the calibration sensor unit 40 close the respective floats 13 and 43 and naturally settle down (step S7).

  By the above operation, the mooring sensor positioning method can easily calculate the position and depth of the sensor 11 corresponding to the swing of the calibration sensor.

  The configuration and operation of the preferred embodiment of the mooring sensor positioning method and apparatus according to the present invention have been described in detail above. However, it should be noted that such examples are merely illustrative of the invention and do not limit the invention in any way. Those skilled in the art will readily understand that various modifications and changes can be made according to a specific application without departing from the gist of the present invention.

It is explanatory drawing which shows the structure of the suitable Example of the mooring sensor positioning apparatus by this invention. It is a flowchart explaining operation | movement of the mooring sensor positioning apparatus shown in FIG. It is explanatory drawing of the LBL system which is the conventional mooring sensor positioning system. It is explanatory drawing of the water depth determination method of the transponder in an orthogonal intersection method. It is explanatory drawing of the position determination method of the transponder in an orthogonal intersection method.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Mooring sensor part 11 Mooring sensor 12, 22, 42 Weight 13, 23, 43 Float 14, 24, 44 Cable 21 Transponder 31 Sea surface 32 Sea bottom 41 Calibration sensor 50 Analysis part

Claims (5)

A mooring sensor positioning system for measuring the position and depth of a mooring sensor moored at a desired seabed in the ocean,
  First to third calibration sensor units that can be dropped from the aircraft or the like to the sea surface, transmit and receive sound waves to and from the mooring sensor, and measure their own position and time information;
  An analysis unit capable of communicating with the first to third calibration sensor units,
  Each of the first to third calibration sensor units transmits its own position information, a round-trip propagation time of sound wave transmission / reception with the mooring sensor, and time information obtained by measuring the round-trip propagation time to the analysis unit. And
  The analysis unit is configured to determine the position and depth of the mooring sensor in the ocean based on the position information received from each of the first to third calibration sensor units, the round-trip propagation time, and the time information. A mooring sensor positioning system that identifies. The mooring sensor positioning system according to claim 1, wherein the analysis unit analyzes the position and depth of the mooring sensor in the ocean continuously for a predetermined time. The mooring sensor positioning system according to claim 1, wherein each of the first to third calibration sensor units includes a GPS (Global Positioning System) receiver that identifies its own position. The mooring sensor positioning system according to any one of claims 1 to 3, wherein the mooring sensor and the first to third calibration sensor units include floats that can be opened and closed. A mooring sensor positioning method for measuring the position and depth of a mooring sensor moored at a desired seabed in the ocean,
  Each of the calibration sensor units that can be dropped on at least three sea surfaces transmits / receives sound waves to / from the mooring sensor, as well as its own position information, the round-trip propagation time of sound wave transmission / reception to / from the mooring sensor, and the round-trip propagation time. And send the time information measured,
  An analysis unit communicable with each of the calibration sensor units is arranged in the ocean of the mooring sensor based on the position information received from each of the calibration sensor units, the round-trip propagation time, and the time information. A mooring sensor positioning method for specifying the position and depth at the surface.

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