JP6207817B2 - Underwater position-related information acquisition system - Google Patents

Description

The invention also relates to a underwater vehicles such as AUV (Autonomous Underwater Vehicle), the positional relationship information between the target for such dock or mother ship, underwater positional relationship information acquiring system that acquires in underwater run side.

  In order for the underwater vehicle to automatically approach the guidance target, it is essential for the underwater vehicle to know the positional relationship information between the underwater vehicle and the guidance target. As means for obtaining such positional relationship information, there are those using electromagnetic waves including light and those using sound waves. Since the former electromagnetic wave has a large propagation loss in water, the distance range in which the positional relationship information can be obtained is limited to approximately several meters. On the other hand, the latter sound wave has a small propagation loss as compared with the electromagnetic wave although it depends on the frequency, and therefore the range in which the positional relationship information can be obtained can be several tens to several hundreds m.

  By the way, transmission of sound waves requires a larger amount of power than light. In addition, if sound waves are transmitted from the underwater vehicle in order to obtain positional relationship information, if simultaneous guidance of multiple underwater vehicles is assumed, there will be a signal interference problem between underwater vehicles. If you try to avoid it, the automatic guidance system becomes very complicated. Therefore, it is desirable not to transmit sound waves from the underwater vehicle in terms of reducing power consumption in the underwater vehicle and simplifying the system by avoiding interference problems between a plurality of underwater vehicles.

  As a method for obtaining the necessary positional relationship information without transmitting the sound wave from the underwater vehicle, that is, the underwater vehicle only receives the sound wave, the sound wave transmission time in the sound source device and the sound wave in the underwater vehicle Based on the received time, a technique has been proposed in which distances between a plurality of sound source devices and the underwater vehicle are respectively determined and the position of the underwater vehicle is measured (see, for example, Patent Documents 1 and 2). . In these methods, the sound source device side and the underwater vehicle body are synchronized, or high-accuracy clocks are provided on the sound source device side and the underwater vehicle body side so that the time is synchronized between the sound source device and the underwater vehicle body. Matched to high accuracy. In order to set the time accurately between the sound source device and the underwater vehicle, regular maintenance is required, and the maintenance cost becomes expensive.

  Therefore, a method using passive ranging is known as a method that requires synchronization between the sound source device that emits sound waves and the underwater vehicle body that obtains positioning information and does not require a high-precision clock on the side that obtains positioning information. (For example, refer nonpatent literatures 1 and 2). The principle of passive ranging is that a receiver array composed of three or more receivers is placed on the side where positioning information is obtained, and sound waves from the sound source side are received by the receiver array, The relative positional relationship information between the receiver array and the sound source is obtained by obtaining the difference between the sound wave arrival times. The content of the positional relationship information obtained by the passive ranging varies depending on the shape of the receiver array used and the number of receivers forming the array.

JP-A-10-111352 JP 2005-321225 A

G. Clifford Carter, “Variance bounds for passively locating an acoustic source with a symmetric line array”, J. Acoust. Soc. Am. 62 (4), 922-927 (1977) M. Meister & D. Neumeister, “ADVANCED RANGING SONAR: PASSIVE RANGE MEASUREMENT WITH LINE-ARRAYS”, Proceedings of UDT Europe 2006 (2006)

  However, when obtaining positional relationship information by conventional passive ranging, the receiver array length is generally more than a few percent of the maximum positioning distance in consideration of the signal-to-noise ratio and the accuracy of mounting each receiver in the receiver array. It is necessary to take If the maximum value of the distance between the guidance target (sound source device) and the underwater vehicle is 50 m, for example, the receiver array length to be taken (generally referred to as the baseline length) is about 1 to 2 m. Therefore, there is a problem that it becomes more difficult to equip the underwater vehicle with a receiver array having such a baseline length as the size of the underwater vehicle is reduced.

SUMMARY OF THE INVENTION In view of the above problems is to provide a water positional relationship information acquiring system that can solve the problems of the prior art.

（式中、ｒは、第１の前記送波器と前記受波器とを結ぶ直線のスラントレンジ、Ｃは、前記音響信号の伝搬速度をそれぞれ示す。また、第１〜３の前記送波器、のそれぞれの座標を（０，０，０）、（−Ｄ _１ ，０，０）及び（Ｄ _２ ，０，０）とする。さらに、第１の前記送波器からの送信波形が前記受波器に到達する時刻ｔ _０ を基準にし、τ _０１ は、時刻ｔ _０ と第２の前記送波器からの送信波形が前記受波器に到達する時刻との到達時間差、τ _０２ は、時刻ｔ _０ と第２の前記送波器からの送信波形が前記受波器に到達する時刻との到達時間差、τ _０３ は、時刻ｔ _０ と第３の前記送波器からの送信波形が前記受波器に到達する時刻との到達時間差をそれぞれ示す。）

（式中、θｘは、Ｘ座標軸に関する第１の前記送波器と前記受波器とを結ぶ直線の方向余弦角を示す。）

（式中、Ｚ _ｄ は、前記水中航走体のＺ成分、Ｐ _ｖ は、前記水中航走体の位置ベクトルをそれぞれ示す。）
また、本発明の水中位置関係情報取得システムは、誘導目標に設置された送信側装置から送波された音響信号を、水中航走体に設置された受信側装置で受波することで、前記誘導目標に対する前記水中航走体の位置関係情報を取得する水中位置関係情報取得システムであって、前記送信側装置は、前記誘導目標に分散して配列され、前記音響信号を同時に送波する３個以上の送波器と、３個以上の前記送波器から前記音響信号として送波される送信波形を互いに異なる波形で生成させる送信波形生成手段とを具備し、前記受信側装置は、３個以上の前記送波器から前記音響信号としてそれぞれ送波された前記送信波形を受波する、分散して配列された３個以上の受波器と、前記受波器によって受波された前記送信波形に基づいて、前記送信波形を送波した前記送波器を特定する送波器特定手段と、該送波器特定手段によって特定された前記送波器と前記受波器によって前記送信波形が受波されたタイミングとに基づいて、３個以上の前記送波器から前記受波器への前記送信波形の到達時間差を算出する到達時間差算出手段と、前記送波器の配列情報が記憶されている送信情報記憶手段と、該送信情報記憶手段に記憶されている前記配列情報と前記到達時間差算出手段によって算出された前記到達時間差とに基づいて、前記誘導目標に対する位置関係情報を算出する位置関係情報算出手段とを具備し、前記到達時間差算出手段は、３個以上の前記送波器のうちの少なくとも１つから３個以上の前記受波器への前記送信波形の到達時間差を算出し、前記位置関係情報算出手段は、前記受波器の配列に設定された局所座標系（Ｘ’，Ｙ’，Ｚ’）で見た前記位置関係情報を下記式（４）及び（５）と下記式（６）もしくは（７）とを用いて算出することを特徴とする。

（式中、ｒは、第１の前記送波器と前記受波器とを結ぶ直線のスラントレンジ、Ｃは、前記音響信号の伝搬速度をそれぞれ示す。また、第１〜３の前記送波器、のそれぞれの座標を（０，０，０）、（−Ｄ _１ ，０，０）及び（Ｄ _２ ，０，０）とする。さらに、第１の前記送波器からの送信波形が前記受波器に到達する時刻ｔ _０ を基準にし、τ _０１ は、時刻ｔ _０ と第２の前記送波器からの送信波形が前記受波器に到達する時刻との到達時間差、τ _０２ は、時刻ｔ _０ と第２の前記送波器からの送信波形が前記受波器に到達する時刻との到達時間差をそれぞれ示す。）

（式中、第１〜３の前記受波器のそれぞれの座標を（０，０，０）、（０，ｄ _１ ，０）および（０，０，ｄ _２ ）とする。また、第１の前記送波器からの送信波形が第１の前記受波器に到達する時刻ｔ _０ を基準にし、ξ０１'は、時刻ｔ _０ と第１の前記送波器からの送信波形が第２の前記受波器に到達する時刻との到達時間差、ξ０２'は、時刻ｔ０と第１の前記送波器からの送信波形が第３の前記受波器に到達する時刻との到達時間差をそれぞれ示す。さらに、θ _ｙ’ は、Ｙ’座標軸に関する第１の前記送波器と第１の前記受波器とを結ぶ直線の方向余弦角、θ _ｚ’ は、Ｚ’座標軸に関する第１の前記送波器と第１の前記受波器とを結ぶ直線の方向余弦角をそれぞれ示す）

（式中、Ｐ _Ｔ ’は、第１の前記送波器の位置ベクトルを示す。）

さらに、本発明の水中位置関係情報取得システムにおいて、前記位置関係情報算出手段は、前記受波器の配列の地球座標系に対する向きの情報を補完情報として用いて前記位置関係情報を算出するようにしても良い。 The underwater positional relationship information acquisition system of the present invention receives the acoustic signal transmitted from the transmission-side device installed in the guidance target by the reception-side device installed in the underwater vehicle, thereby the guidance target. An underwater positional relationship information acquisition system for acquiring positional relationship information of the underwater vehicle with respect to the transmission side device, wherein the transmission side devices are arranged in a distributed manner on the guidance target and transmit the acoustic signals simultaneously. And transmission waveform generating means for generating transmission waveforms transmitted as acoustic signals from three or more of the transmitters in different waveforms, and the receiving-side device includes three or more Receiving the transmission waveform respectively transmitted as the acoustic signal from the transmitter, and transmitting the transmission waveform based on the transmission waveform received by the receiver Wave transmission that identifies the transmitter Based on the specifying means, and the transmitter specified by the transmitter specifying means and the timing at which the transmission waveform is received by the receiver, the reception from three or more transmitters Arrival time difference calculating means for calculating the arrival time difference of the transmission waveform to the transmitter, transmission information storage means for storing the arrangement information of the transmitter, and the arrangement information stored in the transmission information storage means Positional relation information calculation means for calculating positional relation information with respect to the guidance target based on the arrival time difference calculated by the arrival time difference calculation means, and the positional relation information calculation means includes the underwater vehicle. As the complementary information, the positional relationship information of the horizontal plane in the orthogonal coordinate system (X, Y, Z) in which the Z axis coincides with the vertical axis direction is expressed by the following equations (1), (2) and (3 ) calculated using the And wherein the Rukoto.

(Where r is a linear slant range connecting the first transmitter and the receiver, and C is the propagation speed of the acoustic signal. Also, the first to third transmitters The coordinates of the transmitter are (0, 0, 0), (−D ₁ , 0, 0) and (D ₂ , 0, 0), and the transmission waveform from the first transmitter is With reference to the time t ₀ when reaching the receiver , τ ₀₁ is the arrival time difference between the time t ₀ and the time when the transmission waveform from the second transmitter reaches the receiver, and τ ₀₂ is , the arrival time difference at time t ₀ and the time at which the transmission wave from the second of said transmitters to reach the receiving transducer, tau _03, the time t ₀ and the transmission waveform from the third of said transmitters The difference in arrival time with the time to reach the receiver is shown.)

(In the equation, θx represents the direction cosine angle of a straight line connecting the first transmitter and the receiver with respect to the X coordinate axis.)

( Wherein , Z _d is the Z component of the underwater vehicle and P _v is the position vector of the underwater vehicle.)
Further, the underwater positional relationship information acquisition system of the present invention receives the acoustic signal transmitted from the transmission side device installed in the guidance target by the reception side device installed in the underwater vehicle, An underwater positional relationship information acquisition system for acquiring positional relationship information of the underwater vehicle with respect to a guidance target, wherein the transmitting side device is arranged in a distributed manner on the guidance target and simultaneously transmits the acoustic signal 3 Including at least three transmitters and transmission waveform generating means for generating transmission waveforms transmitted as acoustic signals from the three or more transmitters with different waveforms, and the receiving-side device includes: Three or more receivers arranged in a dispersed manner for receiving the transmission waveforms respectively transmitted as the acoustic signals from two or more transmitters, and the receivers received by the receivers Based on the transmission waveform, the transmission wave Based on a transmitter specifying means for specifying the transmitter that has transmitted the signal, a timing at which the transmission waveform is received by the transmitter specified by the transmitter specifying means, and the receiver An arrival time difference calculating means for calculating an arrival time difference of the transmission waveform from three or more of the transmitters to the receiver, and a transmission information storage means in which arrangement information of the transmitters is stored, Positional relation information calculating means for calculating positional relation information for the guidance target based on the arrangement information stored in the transmission information storage means and the arrival time difference calculated by the arrival time difference calculating means. The arrival time difference calculating means calculates the arrival time difference of the transmission waveform from at least one of the three or more transmitters to three or more of the receivers, and the positional relationship information calculating means is , Receiving Vessel arranged to set the local coordinate system (X ', Y', Z ') using said positional relationship information the following expression seen in (4) and (5) and the following formula (6) or (7) It is characterized by calculating.

(Where r is a linear slant range connecting the first transmitter and the receiver, and C is the propagation speed of the acoustic signal. Also, the first to third transmitters The coordinates of the transmitter are (0, 0, 0), (−D ₁ , 0, 0) and (D ₂ , 0, 0), and the transmission waveform from the first transmitter is With reference to the time t ₀ when reaching the receiver , τ ₀₁ is the arrival time difference between the time t ₀ and the time when the transmission waveform from the second transmitter reaches the receiver, and τ ₀₂ is The time difference between the time t ₀ and the time when the transmission waveform from the second transmitter arrives at the receiver is shown.)

(In the formula, the coordinates of the first to third receivers are (0, 0, 0), (0, d ₁ , 0) and (0, 0, d ₂ ). Referring to time t ₀ when the transmission waveform from the transmitter reaches the first receiver , ξ01 ′ indicates that the transmission waveform from time t ₀ and the first transmitter is the second The arrival time difference from the time to reach the receiver, ξ02 ′ represents the arrival time difference between the time t0 and the time at which the transmission waveform from the first transmitter reaches the third receiver. Furthermore, θ _{y ′} is the direction cosine angle of a straight line connecting the first transmitter and the first receiver with respect to the Y ′ coordinate axis, and θ _{z ′} is the first transmitter with respect to the Z ′ coordinate axis. The direction cosine angle of the straight line connecting the wave device and the first wave receiver is shown)

( Where P _T ′ indicates the position vector of the first transmitter)

Furthermore, in the underwater positional relationship information acquisition system according to the present invention, the positional relationship information calculation means calculates the positional relationship information using information on the orientation of the array of the receivers with respect to the earth coordinate system as complementary information. May be.

  According to the present invention, the transmission transmitted from the sound source device side without synchronization between the sound source device side and the underwater vehicle body, and without the need to equip the underwater vehicle body with an array with a long baseline length. Based on the waveform, the positional relationship information can be obtained on the underwater vehicle body side.

It is a block diagram which shows the structure of 1st Embodiment of the underwater positional relationship information acquisition system which concerns on this invention. It is explanatory drawing which shows the positional relationship of the transmitter shown in FIG. 1, and a receiver. It is a block diagram which shows the structure of 2nd Embodiment of the underwater positional relationship information acquisition system which concerns on this invention. It is explanatory drawing which shows the positional relationship of the transmitter shown in FIG. 3, and a receiver. It is a block diagram which shows the structure of 3rd Embodiment of the underwater positional relationship information acquisition system which concerns on this invention. It is explanatory drawing which shows the positional relationship of the transmitter shown in FIG. 5, and a receiver. It is explanatory drawing which shows the positional relationship of the transmitter and receiver in 4th Embodiment of the underwater positional relationship information acquisition system which concerns on this invention.

  Next, embodiments of the present invention will be specifically described with reference to the drawings.

(First embodiment)
Referring to FIG. 1, the underwater positional relationship information acquisition system according to the first embodiment includes a transmission-side device 10 set as a guidance target 1 and a reception-side device 20 installed in the underwater vehicle 2. Has been. The underwater vehicle 2 is an autonomous unmanned submersible such as an AUV (Autonomous Underwater Vehicle), and the guidance target 1 is a base such as a dock or mother ship to which the underwater vehicle 2 returns.

The transmission-side apparatus 10 includes a transmission waveform storage unit 11, a transmission waveform generation unit 12, a transmission waveform processing unit 13 _{0 to} 13 ₃ , and transmitters 14 _{0 to} 14 _3, and transmitters 14 _{0 to} 14 _3. Simultaneously transmit acoustic signals.

The transmission waveform storage unit 11 is a storage unit such as a flash memory, and stores transmission waveforms transmitted from the transmitters 14 _{0 to} 14 ₃ . The transmission waveforms transmitted from the transmitters 14 _{0 to} 14 ₃ are different from each other, for example, signals having low correlation with each other, such as an M-sequence signal and a Gold sequence signal.

  The transmission waveform generation unit 12 is an information processing unit such as a microcomputer including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like. The ROM stores a control program for controlling the operation of the transmission waveform generator 12. The CPU functions as the transmission waveform generation unit 12 by reading the control program stored in the ROM and developing the control program in the RAM.

Based on the transmission waveform stored in the transmission waveform storage unit 11, the transmission waveform generation unit 12 generates transmission waveforms having low correlation with each other, which are transmitted from the transmitters 14 _{0 to} 14 ₃ , and generates the generated transmission waveforms. each output at the same time to the transmission waveform processing section ₁₃ 0-13 _3.

Transmitting the waveform processing section ₁₃ 0-13 ₃ performs signal processing such as D / A conversion and amplification on the inputted transmitted waveform, respectively the transmission waveform subjected to signal processing to transmitters ₁₄ 0-14 ₃ Output.

Transmitters 14 _{0-14 3} is a hydroacoustic transducer for converting an input transmission waveform to an acoustic signal, converts the transmission waveform input from each transmission waveform processing section 13 _{0-13 3} into an acoustic signal in water To send. As a result, transmission waveforms having low correlation with each other are simultaneously transmitted as acoustic signals from the transmitters 14 _{0 to} 14 ₃ .

Transmitters ₁₄ 0-14 _3, referring to FIG. 2, are arranged distributed in a horizontal plane, the wave transmitter 14 ₀ on a line connecting the wave transmitter 14 ₁ and wave transmitter 14 ₂ It is arranged. Transmitters 14 ₀ to orthogonal coordinates were system (X, Y, Z) as the origin of a straight line wave transmitter 14 ₀ - wave transmitter 14 ₃ are arranged when the X-axis, Y perpendicular to the X axis transmitters 14 ₃ is arranged on the axis. Accordingly, the coordinates of the transmitters 14 _{0 to} 14 ₃ are (0, 0, 0), (−D ₁ , 0, 0), (D ₂ , 0, 0) and (0, D ₃ , 0). ).

  Referring to FIG. 1, the receiving-side device 20 includes a receiver 21, a received signal processing unit 22, a transmission information storage unit 23, a transmitter specifying unit 24, an arrival time difference calculating unit 25, a position vector, And a calculation unit 26.

The receiver 21 is an underwater microphone that receives the acoustic signals sent from the transmitters 14 _{0 to} 14 ₃ , converts the received acoustic signals into received signals that are electrical signals, and outputs the signals. Referring to FIG. 2, the orthogonal coordinates were system (X, Y, Z) acoustic signal transmitted from the wave transmitter 14 ₀ is the origin of the linearly r ₀ connecting the wave transmitter 14 ₀ and receivers 21 To reach the receiver 21. Similarly, the acoustic signal transmitted from the wave transmitter 14 _1, the acoustic signal a linear r _1, sent from the transmitters 14 ₂ connecting the wave transmitter 14 ₁ and receivers 21, transmitters receiving a line _{r 2} connecting the 14 ₂ and the wave receiver 21, the acoustic signal transmitted from the wave transmitter 14 ₃ propagates through the straight line _{r 3} connecting the wave transmitter 14 ₃ and wave receiver 21, respectively The wave 21 is reached.

  The received signal processing unit 22 performs signal processing such as amplification and quadrature detection A / D conversion on the received signal output from the receiver 21, and transmits the received signal subjected to signal processing to the transmitter. The data is output to the specifying unit 24.

Transmission information storage unit 23 is a storage device such as a flash memory, transmitters ₁₄ 0 and respective transmit waveform to be transmitted from -14 _3, transmitters ₁₄ 0 to 14 ₃ of the sequence information (wave transmitter 14 _And the coordinates of the transmitters 14 _{0 to} 14 _{3 when 0} is the origin of the orthogonal coordinate system (X, Y, Z).

  The transmitter specifying unit 24, the arrival time difference calculating unit 25, and the position vector calculating unit 26 are information processing such as a microcomputer provided with a central processing unit (CPU), a read only memory (ROM), a random access memory (RAM), and the like. Part. The ROM stores a control program for controlling operations of the transmitter specifying unit 24, the arrival time difference calculating unit 25, and the position vector calculating unit 26. The CPU functions as the transmitter identifying unit 24, the arrival time difference calculating unit 25, and the position vector calculating unit 26 by reading the control program stored in the ROM and developing the control program in the RAM.

The transmitter identifying unit 24 obtains the correlation between the input received signal and the transmission waveforms of the transmitters 14 _{0 to} 14 ₃ stored in the transmission information storage unit 23, thereby inputting the received received signal. Transmitters 14 _{0 to} 14 ₃ which have transmitted the respective signals, and the timings at which the respective transmission waveforms transmitted from the transmitters 14 _{0 to} 14 ₃ are received are time t ₀ to t ₃ , and the arrival time difference Each is output to the calculation unit 25.

The arrival time difference calculation unit 25 is based on the times t _{0 to} t ₃ input from the transmitter specifying unit 24.
The time t ₀ the transmission waveform from the wave transmitter 14 ₀ reaches the wave receiver 21 on the basis, transmission waveform from the wave transmitter 14 ₁ and time t ₀ is the time t ₁ to reach the receivers 21 transmitting the arrival time difference tau _01, the arrival time difference tau ₀₂ between the time _{t 2} when _the transmission waveform from the wave transmitter 14 ₂ and time _{t 0} reaches the wave receiver 21, at time _{t 0} and the wave transmitter 14 ₃ The arrival time difference τ _{03 from} the time t ₃ when the waveform reaches the receiver 21 is calculated, and the calculated arrival time difference τ ₀₁ , arrival time difference τ ₀₂ and arrival time difference τ ₀₃ are output to the position vector calculation unit 26.

The position vector calculation unit 26 is based on the input arrival time difference τ ₀₁ , arrival time difference τ ₀₂ and arrival time τ _03, and the array information of the transmitters 14 _{0 to} 14 ₃ stored in the transmission information storage unit 23. Thus, the position vector of the traveling body 2 as viewed in the orthogonal coordinate system (X, Y, Z) (strictly speaking, the position vector of the receiver 21) is calculated.

The operation of calculating the position vector of the receiver 21 as viewed in the orthogonal coordinate system (X, Y, Z) by the position vector calculation unit 26 will be described in detail.
The straight line r ₀ connecting the wave transmitter 14 ₀ and wave receiver 21, and induced target 1 and slant range r connecting the domestic Hashikarada 2, when the propagation speed of the acoustic signal (sound waves) is C, slant range r is Using the input arrival time difference τ ₀₁ , arrival time difference τ ₀₂ and arrival time difference τ _03, and the array information of the transmitters 14 _{0 to} 14 ₃ stored in the transmission information storage unit 23, a position vector calculation unit 26, the following equation can be obtained.

Further, if the direction cosine angle of the straight line r ₀ with respect to the X coordinate axis is θ _x , and the direction cosine angle of the straight line r ₀ with respect to the Y coordinate axis is θ _y , the direction cosine cos θ _x and cos θ _y are the position vector calculation unit 26. Can be obtained by the following equation.

Therefore, the position vector of the underwater vehicle 2 as viewed in the orthogonal coordinate system (X, Y, Z) (strictly speaking, the position vector of the receiver 21) is expressed as P _v = [x _v , y _v , z _v ] ^t , the position vector _Pv of the underwater vehicle 2 can be obtained by the position vector calculation unit 26 using the following equation. [] ^T in t represents transposition.

By the way, as shown by the [Equation 10 ], when the arrangement of the transmitters 14 _{0 to} 14 ₃ is set as in the first embodiment, ambiguity arises regarding the code determination of the Z component. However, for example, such ambiguity is eliminated by taking a sound insulation measure or the like that blocks sound waves from the rear of the arrangement of the transmitters 14 _{0 to} 14 ₃ (in the present embodiment, the −Z direction). In this case, the position vector calculation unit 26 can obtain the position vector _Pv of the underwater vehicle 2 without ambiguity by the following equation.

Hereinafter, in other embodiments as well, unless otherwise noted, it is assumed that measures are taken to eliminate the ambiguity of the sign, and the position vector _Pv of the underwater vehicle 2 is the sign of the Z component. It should be requested without ambiguity.

(Second Embodiment)
The underwater positional relationship information acquisition system according to the second embodiment, referring to FIGS. 3 and 4, includes a transmission side device 10 a set to the guidance target 1 and a reception side device 20 a installed in the underwater vehicle 2. It consists of and.

Transmitting device 10a has a configuration excluding the transmitters 14 ₃ from the configuration of the transmitting side apparatus 10 of the first embodiment, the acoustic low transmission waveform correlation with each other from the wave transmitter 14 _{0-14 2} Simultaneously send as a signal.

The receiving device 20a includes a depth meter 27 disposed in the vicinity of the receiver 21 in addition to the configuration of the receiving device 20 of the first embodiment. Z _d shown in FIG. 4 is a Z component of the underwater vehicle 2 in the orthogonal coordinate system (X, Y, Z). When the transmitters 14 _{0 to} 14 ₂ are arranged in a horizontal plane and the Z axis of the orthogonal coordinate system (X, Y, Z) coincides with the vertical axis direction, the Z component z of the underwater vehicle 2 _d is a depth difference between the wave transmitter 14 ₀ and receivers 21. Therefore, the depth of the transmitters 14 ₀ is stored as the sequence information of transmitters 14 _{0-14 2} in the transmission information storage unit 23, based on the depth measured by the depth meter 27, underwater vehicles A Z component z _{d of} 2 is obtained.

As shown in FIG. 4, the slant range r and direction are determined only by the transmission waveforms transmitted from the three transmitters 14 _{0 to} 14 ₂ arranged on the X axis of the orthogonal coordinate system (X, Y, Z). Although only the cosine cos θ _x is obtained, since the Z component z _d of the underwater vehicle 2 can be obtained based on the depth measured by the depth meter 27, the position vector P _v of the underwater vehicle 2 is Although there is ambiguity in the sign of the Y component, the position vector calculation unit 26 can obtain the following equation.

(Third embodiment)
With reference to FIGS. 5 and 6, the underwater positional relationship information acquisition system according to the third embodiment is configured to receive the transmission side device 10 a having the same configuration as that of the second embodiment and the underwater vehicle 2. It is comprised with the side apparatus 20b.

Receiving device 20b includes a wave receiver array USBL (Ultra Short BaseLine) receivers array of receivers ₂₁ 0-21 _2, the received signal processing section ₂₂ 0-22 _2, transmission information storage unit 23a A transmitter specifying unit 24a, an arrival time difference calculating unit 25a, a position vector calculating unit 26a, and an azimuth and orientation sensor 28 for measuring the heading direction, roll angle, and pitch angle of the underwater vehicle 2. .

USBL receivers sequences are those three receivers ₂₁ 0-21 ₂ are arranged in an L shape. As shown in FIG. 6, the receivers 21 ₀ orthogonal coordinates were based (X ', Y', Z ') as the origin of, X' when the shaft and ship shaft of underwater vehicle 2, receivers 21 ₁ to 21 ₂ 'are arranged in a plane, receiving transducer 21 _1, Y'Y'-Z on the shaft, the wave receiver 21 ₂ are respectively arranged on axis Z '. Thus, with the acoustic signal transmitted from the wave transmitter 14 ₀ is propagated through the straight line r ₀ connecting the wave transmitter 14 ₀ and wave receiver 21 ₀ reaches the receiving transducer 21 _0, the wave transmitter 14 ₀ and connecting the receivers 21 ₁ propagates straight _{r 01} reaches the receiving transducer 21 _1, further propagates through the straight line _{r 02} connecting the wave transmitter 14 ₀ and receivers 21 ₂ reach the receivers 21 _2. The coordinates of the receivers 21 _{0 to} 21 ₂ can be represented by (0, 0, 0), (0, d ₁ , 0) and (0, 0, d ₂ ). The receiver information is stored in the transmission information storage unit 23a.

The acoustic signals received by the receivers 21 _{0 to} 21 ₂ are converted into received signals, subjected to signal processing by the received signal processing units 22 _{0 to} 22 ₂ , and input to the transmitter specifying unit 24 a. Is done.

Transmitters identifying unit 24a, in addition to the wave transmitter function specification unit 24 in the above embodiment, the wave transmitter 14 ₀ wave receiver is transmitted waveform transmitted from the 21 ₁ and receivers 21 ₂ Therefore receiving The waved times t _{1 ′ to} t _{2 ′} are respectively output to the arrival time difference calculation unit 25a.

Arrival time difference calculating portion 25a, in addition to the function of the arrival time difference calculating portion 25 in the above embodiment, based on the time t _{1 '~t 2'} received from the transmitting device identification unit 24, the wave transmitter 14 ₀ to the time t ₀ the transmission waveform reaches the receiving transducer 21 ₀ to the reference time t ₀ and the arrival time difference between the time t _{1 'the} transmission waveform from the wave transmitter 14 ₀ reaches the receiving transducer 21 ₁ xi] _{01 'calculates} the arrival time difference xi] _01' arrival time difference xi] ₀₂ with _'a, times t ₀ and the transmission waveform from the wave transmitter 14 ₀ the time t ₂ to reach the receivers 21 _2' and the arrival time difference ξ _{02 ′} is output to the position vector calculator 26.

In addition to the function of the position vector calculation unit 26 in the previous embodiment, the position vector calculation unit 26b receives the input arrival time difference ξ _{01 ′} and arrival time difference ξ _{02 ′} and the reception information stored in the transmission information storage unit 23a. based on the sequence information of the multiplexer ₂₁ 0-21 _2, orthogonal coordinates were based (X ', Y', Z ') speaking induced target 1 of the position vector (strictly seen in, the transmitters 14 ₀ Position vector).

Orthogonal coordinates were based by the position vector calculating unit 26b (X ', Y', Z ') will be described in detail the operation of calculating the position vector of the transmitters 14 ₀ seen in.
When the direction cosine angle of the straight line r ₀ with respect to the Y ′ coordinate axis is θ _{y ′} and the direction cosine angle of the straight line r ₀ with respect to the Z ′ coordinate axis is θ _{z ′} , the respective direction cosines cos θ _{y ′} and cos θ _{z ′} are positions. In the vector calculation part 26, it can obtain | require by following Formula.

Therefore, the orthogonal coordinates were based (X ', Y', Z ') at a position vector (strictly speaking, the position vector of the transmitters 14 ₀₎ of the target level 1 viewed _{P T' = [x T '} , y _T ', _{z T'} ^{When] t,} the position vector _{P T} of transmitters 14 ₀ 'can be determined by the following equation in the position vector calculating section 26a. Note that r is a slant range obtained by the formula [ 8 ].

By the way, as shown in the equation [ 14 ], when the arrangement of the receivers 21 _{0 to} 21 _{2 is} the same as that of the third embodiment, ambiguity arises regarding the code determination of the X ′ component. However, for example, rather than the rear (in the case of this embodiment -X 'direction) such ambiguity if Kozure sound insulation measures such as blocking the sound waves from the array of receivers 21 _{0-21 2} it can be, in that case, the position vector calculating unit 26a, unambiguously position vector P _{T 'of} transmitters 14 ₀ can be obtained by the following equation.

Hereinafter, in the third embodiment, unless otherwise mentioned, it assumes that measures to eliminate the ambiguity of the code have been taken, the position vector P _T of transmitters 14 _{0 'X'} It is assumed that the component code is obtained without ambiguity.

Here, the rotation angle of the orthogonal coordinate system (X, Y, Z) in which the transmitters 14 _{0 to} 14 ₂ are arranged with respect to the so-called earth coordinate system is on the underwater vehicle 2 (position vector calculation unit 26a) side. Assume that it is known. In other words, place the origin wave transmitter 14 _0, longitude axis x-coordinate axis, the coordinate system with the z axis vertical to the (x, y, z), orthogonal coordinates were based for the coordinate system (X, Y, Z ) Rotation (roll angle α _T , pitch angle β _T and yaw angle γ _T ) is known on the underwater vehicle 2 (position vector calculation unit 26a) side. Further, the direction of the underwater vehicle 2 heading by azimuth orientation sensor 28, roll angle, the measured pitch angle, the wave receiver 21 _0-21 orthogonal coordinates were _{system 2} are arranged (X ', Y' , Z ′) is assumed to be known on the underwater vehicle 2 (position vector calculation unit 26a) side with respect to the so-called earth coordinate system. In other words, place the origin receivers 21 _0, longitude axis x-coordinate axis, the coordinate system with the z-axis a vertical (x ', y', z ') and to the orthogonal coordinates were based for the coordinate system (X' , Y ′, Z ′) (roll angle α _V , pitch angle β _V and yaw angle γ _V ) are known on the underwater vehicle 2 (position vector calculation unit 26a) side. Furthermore, in any case, it is assumed that the angle at which the axis is inclined upward is positive for the pitch, the angle at which the axis is inclined downward is positive for the roll, and the angle at which the axis rotates clockwise from the ground axis is positive for yaw. Then, the position vector of the underwater vehicle 2 (receiver 21 ₀ ) viewed in the orthogonal coordinate system (X, Y, Z) can be obtained by the following expression in the position vector calculation unit 26a.

However, in [Expression 16] where _{Λ α (x), Λ β} (x), Λ γ (x) are each roll transformation matrix as shown below with respect to the pitch and yaw, lambda ^-1 _alpha (x ) = Λ _α (−x), Λ ⁻¹ _β (x) = Λ _β (−x) and Λ ⁻¹ _γ (x) = Λ _γ (−x).

As described above, according to the third embodiment, the wave transmitter 14 _{0-14 2} orientation is arbitrary, that is, even if the induced target 1 of the dock or the like is an arbitrary orientation, transmitters 14 _{0-14 2} orthogonal coordinates were system are arranged (X, Y, Z) the position of the underwater vehicle 2 viewed in (wave receiver 21 _0), be calculated in the underwater vehicle 2 side it can. Incidentally, even a sequence of wave transmitter 14 _{0-14 2} as shown in the second embodiment, even when the wave transmitter array as in this embodiment, Y components of the position vector P _v Is obtained.

(Fourth embodiment)
The underwater positional relationship information acquisition system of the fourth embodiment is a system in which the function of the third embodiment is added to the first embodiment, and as shown in FIG. Four transmitters 14 _{0 to} 14 ₃ are provided, and the underwater vehicle 2 is provided with three receivers 21 _{0 to} 21 _{2 in} a USBL receiver array.

In the fourth embodiment, the position vector calculation unit 26 can obtain the position vector _Pv of the underwater vehicle 2 by the formula [ 11 ].

Here, the transmitters 14 _{0 to} 14 ₃ are, in addition to the roll angle α _V , pitch angle β _V and yaw angle γ _V of the third embodiment, for example, a new rotation of γ _TA with respect to yaw. And Then, the following formula is established.

In this case, P _V ^˜ cannot replace the x component and y component of the vector with r cos θ _x and r cos θ _y , and P _V ^˜ is expressed by the following equation.

A relational expression is obtained from this [Equation 19 ].

Accordingly, the underwater vehicle 2 if determining the angle gamma _TA as to hit on the formula [20] wherein the underwater vehicle 2 (the position vector calculating section 26a) side, the wave transmitter ₁₄ 0-14 ₃ it is possible to know the new rotation angle gamma _TA for the earth's axis. The same applies when the new rotation angle is α _TA of the roll or β _TA of the pitch. According to the fourth embodiment, even when the guidance target 1 such as a dock is attached to a ship or the like and the yaw or the like changes with time, communication means from the guidance target 1 such as a dock is not required, The direction of the guidance target 1 such as the dock can be calculated on the underwater vehicle 2 (position vector calculation unit 26a) side.

As described above, according to the first and second embodiments, a combination of one sound source (transmitter) and three or more receivers of conventional passive ranging is combined with three or more transmitters. It has a “reverse passive ranging” configuration in which a transmitter array composed of the wave devices 14 _{0 to} 14 ₃ and one receiver 21 are replaced. Accordingly, there is an advantage that it is not necessary to transmit sound waves from the underwater vehicle 2 side, and it is not necessary to equip the underwater vehicle 2 side with an array having a long baseline length. Furthermore, the relative position of the receiver as seen from the arrangement of the transmitters 14 _{0 to} 14 ₃ is obtained by obtaining the arrival time difference of the acoustic signals transmitted from the transmitters 14 _{0 to} 14 ₃ to the receiver 21. designed to reduce the obtaining relationship information in underwater vehicle 2 side, from the three or more transmitters 14 _{0-14 3} may be transmitting asynchronously with underwater vehicle 2 side clock .

Furthermore, according to the third and fourth embodiment, using the receivers array of receivers 21 _{0-21 2,} reception signals from at least one transmitting unit of transmitters sequence A straight line connecting the transmitter and the receiver array is placed on the receiver array on the underwater vehicle 2 side by obtaining the difference in arrival time between the receivers by receiving the receiver array. A direction cosine for two or more orthogonal coordinate axes of the coordinate system is obtained. Thereby, the direction cosine with respect to the coordinate system of the receiver array can be obtained, and new positional relationship information more effective for the guidance control of the underwater vehicle 2 can be obtained on the underwater vehicle 2 side.

  Furthermore, according to the second embodiment, by using the depth of the underwater vehicle 2 as complementary information, even in the case of a transmitter array of a linear array in which the number of transmitters is 3, a three-dimensional positional relationship There is an advantage that information can be obtained without ambiguity.

  Furthermore, according to the fourth embodiment, the orientation of the transmitter array (transmitter) is attached to the underwater vehicle 2 by attaching an orientation posture sensor that measures the heading direction with respect to its own ground axis and its posture angle. The direction of the guidance target 1 such as a dock with an array attached) can be known on the underwater vehicle 2 side. Therefore, even when the transmitter array is attached to a ship or the like and the direction thereof changes with time, there is an advantage that the direction can be known on the underwater vehicle 2 side without using communication means.

  Further, according to the first to fourth embodiments, the reverse passive ranging that does not transmit sound waves from the underwater vehicle 2 side and the direction measurement by the receiver array on the underwater vehicle 2 side are used. Therefore, even if there are a plurality of navigation bodies to be guided, an additional function is not necessary for the guidance system, and there is an advantage that application to group guidance of the underwater vehicle 2 is easy.

  Note that the present invention is not limited to the above-described embodiments, and it is obvious that the embodiments can be appropriately changed within the scope of the technical idea of the present invention. In addition, the number, position, shape, and the like of the constituent members are not limited to the above-described embodiment, and can be set to a suitable number, position, shape, and the like in practicing the present invention. In each figure, the same numerals are given to the same component.

1 induced target 2 underwater vehicle 10,10a transmitting device 11 transmits waveform storage unit 12 transmits the waveform generator 13 _{0-13 3} transmission waveform processing section 14 _{0-14 3} transmitters 20, 20a, 20b receiving device 21 , 21 _{0 to} 21 ₂ Receiver 22, 22 _{0 to} 22 ₂ Received signal processing unit 23, 23a Transmission information storage unit 24, 24a Transmitter identification unit 25, 25a Arrival time difference calculation unit 26, 26a Position vector calculation unit 27 Depth meter 28 Azimuth and orientation sensor

Claims (3)

By receiving the acoustic signal transmitted from the transmitting device installed in the guidance target by the receiving device installed in the underwater vehicle, the positional relationship information of the underwater vehicle with respect to the guidance target is obtained. An underwater position-related information acquisition system for acquiring,
The transmitting device is:
Three or more transmitters arranged in a distributed manner on the guidance target and transmitting the acoustic signals simultaneously;
Transmission waveform generating means for generating transmission waveforms transmitted as acoustic signals from three or more of the transmitters in different waveforms, and
The receiving side device
A receiver for receiving the transmission waveform respectively transmitted as the acoustic signal from three or more transmitters;
Based on the transmission waveform received by the receiver, transmitter specifying means for specifying the transmitter that has transmitted the transmission waveform;
Based on the transmitter specified by the transmitter specifying means and the timing at which the transmission waveform is received by the receiver, the three or more transmitters to the receiver are used. Arrival time difference calculating means for calculating the arrival time difference of the transmission waveform;
Transmission information storage means in which arrangement information of the transmitter is stored;
Positional relation information calculating means for calculating positional relation information for the guidance target based on the arrangement information stored in the transmission information storage means and the arrival time difference calculated by the arrival time difference calculating means. ,
The positional relationship information calculating means uses the depth of the underwater vehicle as supplementary information, and calculates the positional relationship information of the horizontal plane in the orthogonal coordinate system (X, Y, Z) in which the Z axis coincides with the vertical axis direction. The underwater positional relationship information acquisition system characterized by calculating using the following formulas (1), (2) and (3) .

(Where r is a linear slant range connecting the first transmitter and the receiver, and C is the propagation speed of the acoustic signal. Also, the first to third transmitters The coordinates of the transmitter are (0, 0, 0), (−D ₁ , 0, 0) and (D ₂ , 0, 0), and the transmission waveform from the first transmitter is With reference to the time t ₀ arriving at the receiver , τ ₀₁ is the arrival time difference between the time t ₀ and the time when the transmission waveform from the second transmitter reaches the receiver, and τ ₀₂ is The time difference between the time t ₀ and the time when the transmission waveform from the second transmitter reaches the receiver is shown.)

(In the formula, θ _x represents the direction cosine angle of a straight line connecting the first transmitter and the receiver with respect to the X coordinate axis.)

( Wherein , Z _d is the Z component of the underwater vehicle and P _v is the position vector of the underwater vehicle.) By receiving the acoustic signal transmitted from the transmitting device installed in the guidance target by the receiving device installed in the underwater vehicle, the positional relationship information of the underwater vehicle with respect to the guidance target is obtained. An underwater position-related information acquisition system for acquiring,
The transmitting device is:
Three or more transmitters arranged in a distributed manner on the guidance target and transmitting the acoustic signals simultaneously;
Transmission waveform generating means for generating transmission waveforms transmitted as acoustic signals from three or more of the transmitters in different waveforms, and
The receiving side device
To reception the transmitting by said transmitted waveform respectively as the acoustic signal from three or more of said wave transmitter, and three or more receivers arranged distributed manner,
Based on the transmission waveform received by the receiver, transmitter specifying means for specifying the transmitter that has transmitted the transmission waveform;
Based on the transmitter specified by the transmitter specifying means and the timing at which the transmission waveform is received by the receiver, the three or more transmitters to the receiver are used. Arrival time difference calculating means for calculating the arrival time difference of the transmission waveform;
Transmission information storage means in which arrangement information of the transmitter is stored;
Positional relation information calculating means for calculating positional relation information for the guidance target based on the arrangement information stored in the transmission information storage means and the arrival time difference calculated by the arrival time difference calculating means. ,
The arrival time difference calculating means calculates an arrival time difference of the transmission waveform from at least one of the three or more transmitters to three or more of the receivers,
The positional relationship information calculation means uses the following equations (4) and (5) and the following positional relationship information as viewed in the local coordinate system (X ′, Y ′, Z ′) set in the receiver array. An underwater positional relationship information acquisition system characterized in that the calculation is performed using Expression (6) or (7) .

(Where r is a linear slant range connecting the first transmitter and the receiver, and C is the propagation speed of the acoustic signal. Also, the first to third transmitters The coordinates of the transmitter are (0, 0, 0), (−D ₁ , 0, 0) and (D ₂ , 0, 0), and the transmission waveform from the first transmitter is With reference to the time t ₀ when reaching the receiver , τ ₀₁ is the arrival time difference between the time t ₀ and the time when the transmission waveform from the second transmitter reaches the receiver, and τ ₀₂ is The time difference between the time t ₀ and the time when the transmission waveform from the second transmitter arrives at the receiver is shown.)

(In the formula, the coordinates of the first to third receivers are (0, 0, 0), (0, d ₁ , 0) and (0, 0, d ₂ ). Referring to time t ₀ when the transmission waveform from the transmitter reaches the first receiver , ξ01 ′ indicates that the transmission waveform from time t ₀ and the first transmitter is the second The arrival time difference from the time to reach the receiver, ξ02 ′ represents the arrival time difference between the time t0 and the time at which the transmission waveform from the first transmitter reaches the third receiver. Furthermore, θ _{y ′} is the direction cosine angle of a straight line connecting the first transmitter and the first receiver with respect to the Y ′ coordinate axis, and θ _{z ′} is the first transmitter with respect to the Z ′ coordinate axis. The direction cosine angle of the straight line connecting the wave device and the first wave receiver is shown)

( Where P _T ′ indicates the position vector of the first transmitter)

  The underwater positional relationship information acquisition according to claim 2, wherein the positional relationship information calculation unit calculates the positional relationship information using information on the orientation of the array of the receivers with respect to the earth coordinate system as complementary information. system.

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