JP6523149B2 - Navigation control system, surface navigation body, underwater navigation body, navigation control method, tracking suspension processing method, navigation destination determination method and program - Google Patents

Description

  The present invention relates to a navigation control system, a marine vessel, an underwater vehicle, a navigation control method, a tracking pause processing method, a navigation destination determination method and program.

  There are cases where the underwater vehicle is tracked such that the surface vehicle is located in the vicinity of immediately above the underwater vehicle. For example, in the communication system described in Patent Document 1, a relay traveling on water relays communication between the underwater vehicle and the mother ship. Specifically, the relay performs acoustic communication (communication by sound waves) with the underwater vehicle, and communicates with the mother ship by radio waves. Since the direction in which communication can be performed is limited in acoustic communication, the relay autonomously moves horizontally to maintain a positional relationship that allows acoustic communication with the underwater vehicle.

JP 2001-308766 A

  It is conceivable that a surface navigation body tracking an underwater navigation body can not continue tracking of the underwater navigation body. For example, in the case where there is an obstacle such as a ship in the traveling direction of the surface vehicle, it is conceivable that the surface vehicle suspends the tracking of the underwater vehicle to avoid the obstacle. If the surface navigation system loses sight of the underwater navigation system due to the evasive action etc., the communication range is limited in the water compared to the case of the ground and on the water, so the underwater navigation system can not be found and the underwater navigation system may not be recovered. is there.

  The present invention provides a navigation control system capable of enhancing the possibility of finding an underwater vehicle when the marine vehicle suspends tracking of the underwater vehicle, a marine vehicle, an underwater vehicle, a navigation control method, and a tracking system. A temporary interruption processing method, a navigation destination determination method, and a program are provided.

According to a first aspect of the present invention, a navigation control system includes a first navigation body traveling on water and a second navigation body tracked by the first navigation body and traveling in water, the first navigation body The method further comprises an action processing unit for notifying the second navigation body of the tracking suspension and the navigation pattern of the first navigation body at the time of the tracking suspension when it is determined to suspend the tracking of the second navigation body. The second navigation body determines whether or not the second navigation body can travel in the same pattern as the navigation pattern of the first navigation body when notified of the tracking temporary suspension; When the availability determination unit determines that the second navigation body can not travel in the same pattern as the navigation pattern of the first navigation body, the first navigation body after the tracking suspension is determined to have a known position Navigation operation decision to determine the location of the navigation destination of the second navigation body Comprising a part, the said navigation operation determining unit includes a position determination notification unit for notifying the determined said positions in said first navigation body.

  The second navigation body further includes a current position calculation unit that calculates the current position of the second navigation body and notifies the first navigation body of the calculated current position, and the position determination notification unit is configured to When notified of the interruption, the position of the navigation destination of the second navigation body is determined based on the current position of the second navigation body calculated by the current position calculation unit, and the determined position is determined by the first navigation body An error detection unit for detecting an error included in the current position of the second navigation body calculated by the current position calculation unit; and the second navigation system determined by the position determination notification unit. And a correction unit configured to correct the position of the navigation destination of the navigation body based on the error.

  The second navigation body calculates the current position of the second navigation body, and notifies the first navigation body of the calculated current position, and the second navigation determined by the position determination notification unit The correction unit for correcting the position of the navigation destination of the body is further provided, wherein the first navigation body detects and detects an error included in the current position of the second navigation body calculated by the current position calculation unit. The position determination notification unit further includes an error detection unit that notifies an error to the second navigation body, and when the position determination notification unit receives the notification of the tracking suspension, the current position calculation unit calculates the current of the second navigation body. The position of the navigation destination of the second navigation body is determined based on the position, and the correction unit corrects the position of the navigation destination of the second navigation body determined by the position determination notification unit based on the error. The position of the navigation destination of the second navigation body after correction is taken as the first navigation body It may be notified.

Before Symbol navigation operation determiner, the previous SL when the second navigation body in the same pattern as navigational patterns of the first navigation body determines that the determination unit and navigable, navigation destination location of the second navigation body may be followed determiner Ru further comprising a determining a navigation destination position by the same navigation pattern navigation pattern of the first navigation body.
According to a second aspect of the present invention, a navigation control system includes a first navigation body traveling on water and a second navigation body tracked by the first navigation body and traveling in water, the first navigation body The method further comprises an action processing unit for notifying the second navigation body of the tracking suspension and the navigation pattern of the first navigation body at the time of the tracking suspension when it is determined to suspend the tracking of the second navigation body. The second navigation body determines whether or not the second navigation body can travel in the same pattern as the navigation pattern of the first navigation body when notified of the tracking temporary suspension; When the availability determination unit determines that the second navigation body can be navigated in the same pattern as the navigation pattern of the first navigation body, the location of the navigation destination of the second navigation body is the navigation pattern of the first navigation body and Follow to determine the location of the navigation destination by the same navigation pattern In the case where the second navigation body can not navigate in the same pattern as the fixed portion and the navigation pattern of the first navigation body and the availability determination unit determines that the second navigation body can not travel, the first navigation body after ending the tracking suspension is And a position determination notification unit which determines a known position as the position of the navigation destination of the second navigation body and notifies the first navigation body of the determined position.

According to the third aspect of the present invention, the surface navigation body is a surface navigation body that travels on the water by tracking the underwater navigation body, and when it is determined that the tracking of the underwater navigation body is suspended, the tracking temporary The underwater navigation system is notified of an interruption and a navigation pattern of the surface navigation apparatus at the time of a tracking interruption, and the behavior processing unit is provided.

Before SL underwater sailing body is determined when it is determined that not navigable in the same pattern as navigational patterns of the water navigation body, further comprising a notification acquisition unit that acquires a notification of navigation destination position of the underwater sailing body, wherein The action processing unit, when the notification acquisition unit acquires the notification of the position, the position of the navigation destination of the marine navigation object after the termination of the tracking suspension of the underwater navigation member, the position of the navigation destination of the underwater navigation member It may be determined based on

According to the fourth aspect of the present invention, the underwater vehicle is an underwater vehicle that is tracked by the floating vehicle and travels underwater, and the tracking suspension of the underwater vehicle by the floating vehicle and the tracking temporary time When notified of the navigation pattern of the surface vehicle at the time of interruption, it is possible to determine whether or not the underwater navigation body can be traveled in the same pattern as the navigation pattern of the surface navigation body; When the availability determination unit determines that navigation is impossible in the same pattern as the navigation pattern of the body, the surface navigation vehicle after finishing the tracking suspension is determined to have the known position of the navigation destination of the underwater navigation device. A navigation operation determination unit , wherein the navigation operation determination unit notifies the surface vehicle of the determined position .

According to a fifth aspect of the present invention, a navigation control method includes: navigation control of a navigation control system including a first navigation body traveling on water and a second navigation body tracked by the first navigation body and traveling in water In the method, when it is determined that the first navigation body suspends the tracking of the second navigation body, the tracking suspension and the navigation pattern of the first navigation body at the time of the tracking suspension are divided into the second The action processing step of notifying the navigation body, and when the second navigation body is notified of the tracking suspension, whether or not the second navigation body can travel in the same pattern as the navigation pattern of the first navigation body And determining that the second navigation body can not be navigated in the same pattern as the navigation pattern of the first navigation body, the first navigation body is known after ending the tracking suspension. Location of the second It is seen including a navigation operation determining step of determining a location, wherein the second navigation body notifies the determined said positions in said first navigation body.

  According to the sixth aspect of the present invention, in the tracking temporary suspension processing method, when it is determined that the underwater navigation body that follows the underwater navigation body and travels on the water suspends the tracking of the underwater navigation body, the tracking is The underwater vehicle is notified of the suspension and the navigation pattern of the surface vehicle at the time of tracking suspension.

The tracking temporary interruption during processing method, before Symbol underwater navigation body, a notification of navigation destination position of said underwater navigation body as determined when it is determined that not navigable in the same pattern as water navigation of sailing pattern, wherein a notification acquisition step in which the water navigation body gets the water sailing body, when acquiring the notification of the position, after completion of tracking temporary interruption of the water navigation body, the navigation destination position of the water navigation body a navigation destination determination step of determining based on the navigation destination position of the underwater navigation body, may include a.

According to the seventh aspect of the present invention, in the navigation destination determination method, the underwater navigation body tracked by the surface navigation body and traveling in the water is the tracking suspension and the tracking suspension of the underwater navigation body by the surface navigation body. When notified of the navigation pattern of the surface vehicle at the time, it is determined whether or not the navigation pattern of the surface vehicle can be traveled in the same pattern as the navigation pattern of the surface vehicle, and navigation is not performed in the same pattern as the navigation pattern of the surface vehicle. If it is determined that it is possible, the surface vehicle after the completion of the tracking suspension is determined to have a known position as the position of the navigation destination of the underwater vehicle, and the determined position is notified to the surface vehicle .

According to an eighth aspect of the present invention, when the program determines that the tracking of the underwater vehicle is to be interrupted temporarily in the computer that controls the underwater vehicle that follows the underwater vehicle and navigates the water, It is a program for performing processing of notifying the underwater navigation body of an interruption and a navigation pattern of the surface navigation body at the time of tracking suspension.

The program, on the computer, before Symbol underwater sailing body is determined when it is determined that not navigable in the same pattern as navigational patterns of the water navigation body, acquires a notification of navigation destination position of the underwater sailing body In the notification acquiring step, and when the notification of the position is acquired , the position of the navigation destination of the surface navigation body is determined based on the position of the navigation destination of the underwater navigation body after the termination of the tracking suspension of the underwater navigation body. a navigation destination determination step of, may it program der in order to run.

According to a tenth aspect of the present invention, a program is provided by a computer for controlling an underwater vehicle tracked by a floating vehicle and navigating the water, the tracking suspension of the underwater vehicle by the floating vehicle, and the tracking temporary time When notified of the navigation pattern of the surface vehicle at the time of interruption, it is determined whether or not the navigation pattern of the surface navigation system is possible in the same pattern as the navigation pattern of the surface navigation system, and navigation is performed in the same pattern as the navigation pattern of the surface navigation vehicle. If it is determined that it is not possible, the surface vehicle after the completion of the tracking suspension determines the known position as the position of the navigation destination of the underwater vehicle, and notifies the surface vehicle of the determined position. It is a program for performing processing.

  According to the navigation control system, the surface navigation system, the underwater navigation body, the navigation control method, the tracking suspension processing method, the navigation destination determination method and the program, the surface navigation system suspends the tracking of the underwater navigation body. Can increase the possibility of finding underwater vehicles.

It is a schematic block diagram which shows the example of an apparatus configuration of the navigation control system which concerns on the 1st Embodiment of this invention. It is a schematic block diagram showing functional composition of a vessel and a submersible boat concerning the embodiment. It is explanatory drawing which shows the 1st example of the process which a ship and a submersible perform when the ship concerning this embodiment suspends tracking of a submersible temporarily. It is explanatory drawing which shows the 2nd example of the process which a ship and a submersible perform when the ship concerning this embodiment suspends tracking of a submersible temporarily. It is an explanatory view showing an example of a standby position after correction which a amendment part concerning the embodiment computes. It is a schematic block diagram showing functional composition of a vessel and a submersible boat concerning a 2nd embodiment of the present invention. It is explanatory drawing which shows the example of the process which a ship and a submersible perform when the ship concerning this embodiment suspends tracking of a submersible temporarily.

  Hereinafter, although the embodiment of the present invention is described, the following embodiment does not limit the invention concerning a claim. Moreover, not all combinations of features described in the embodiments are essential to the solution of the invention.

First Embodiment
FIG. 1 is a schematic configuration view showing an example of a device configuration of a navigation control system according to a first embodiment of the present invention. As shown in the figure, the navigation control system 1 includes a ship 100 and a submersible boat 200. In addition, the ship 100 communicates with the land base 910 via a communication satellite 920.

The navigation control system 1 is a system that observes water and outputs observation data.
The submersible boat 200 corresponds to the example of the underwater navigation body and the example of the second navigation body, and navigates the water and performs an operation such as taking an image, for example. The submersible boat 200 may be an unmanned submersible or a manned submersible.
The ship 100 corresponds to the example of the surface navigation body and the example of the first navigation body, and navigates the water to track the submersible boat 200 and maintains a position where it can communicate with the submersible boat 200. Then, the ship 100 relays the communication between the submersible boat 200 and the land base 910. The ship 100 performs acoustic communication (communication by sound waves) with the submersible boat 200, and performs communication with the land base 910 by radio waves. The ship 100 may be an unmanned ship or a manned ship. In addition, the shape of the watercraft provided in the navigation control system 1 is not limited to the shape of the ship. The navigation control system 1 may include a watercraft that autonomously navigates in a shape other than a ship instead of the ship 100.

  Here, in the acoustic communication in water, the communicable range is generally set to be relatively narrow for the reason of avoiding the deterioration of the sound due to the reflected wave on the water surface. For example, the communicable range is set within a conical range of about 30 degrees on one side called an acoustic cone. In FIG. 1, the area A11 corresponds to an example of the communicable range. In order to position the submersible boat 200 within the communicable range (that is, in order to maintain the positional relationship communicable with the submersible boat 200), the ship 100 tracks the submersible boat 200.

The land base 910 communicates with the ship 100 to exchange various information. For example, the land base 910 receives information from the submersible boat 200 such as image data captured by the submersible boat 200 from the ship 100. The land base 910 also transmits commands to the ship 100 and the submersible boat 200 to the ship 100.
The communication satellite 920 relays communication between the ship 100 and the land base 910.
However, the communication method between the ship 100 and the land base 910 is not limited to the method via the communication satellite 920. The ship 100 and the land base 910 may directly communicate with each other without using the communication satellite 920.

  FIG. 2 is a schematic block diagram showing functional configurations of the ship 100 and the submersible boat 200. As shown in FIG. As shown in the figure, the ship 100 includes an underwater first communication unit 110, a first propulsion unit 120, an ambient condition detection unit 130, a positioning unit 140, a base-to-base communication unit 150, and a first control unit 190. And The first control unit 190 includes an error detection unit 191, a correction unit 192, and an action processing unit 193. In addition, the submersible boat 200 includes an underwater second communication unit 210, a second propulsion unit 220, an observation unit 230, and a second control unit 290. The second control unit 290 includes a current position calculation unit 291 and a navigation operation determination unit 292. The navigation operation determination unit 292 includes an availability determination unit 293, a follow-up determination unit 294, and a position determination notification unit 295.

  The first underwater communication unit 110 performs acoustic communication (communication by sound waves) with the second underwater communication unit 210. In particular, when the action processing unit 193 decides to suspend the tracking of the submersible boat 200, the underwater first communication unit 110 transmits a notification of tracking suspension to the underwater second communication unit 210 according to the control of the behavior processing unit 193. Do. Furthermore, when the behavior processing unit 193 determines the navigation pattern of the ship 100 at the time of tracking suspension, the underwater first communication unit 110 transmits a notification of the navigation pattern to the submersible boat 200 according to the control of the behavior processing unit 193.

The underwater first communication unit 110 corresponds to an example of a notification acquisition unit, and when the position determination notification unit 295 transmits a notification of the location of the navigation destination of the submersible boat 200, the notification is acquired (received).
Here, the position of the navigation destination of the ship or the like (including the ship and the submersible) is a position where the ship or the like is to reach or pass. In particular, the position of the navigation destination of the submersible boat 200 notified by the submersible boat 200 to the ship 100 is used as a position where the submersible boat 200 and the ship 100 merge. Therefore, when the submersible boat 200 reaches the navigation destination position notified to the ship 100, the submersible boat 200 stands by until it joins the ship 100.

The position of the navigation destination of the ship or the like may be defined at one point, for example, navigation of the ship or the like as in "leftward turning with a turning radius of 50 meters centering on north latitude ... degree, east longitude ... degree It may be determined using a pattern.
For example, when the ocean current is not fast, the position of the navigation destination of the submersible boat 200 may be set at one point, and the submersible boat 200 that has reached the position of the navigation destination may stop and stand by at that position. As the submersible boat 200 stops and stands by, consumption of energy (for example, battery power) of the submersible boat 200 can be reduced.

On the other hand, when the ocean current is fast, it is conceivable that the submersible boat 200 is caused to flow into the ocean current when the second propulsion unit 220 is stopped. In this case, the submersible boat 200 may stand by while turning while standing by. In this case, the submersible boat 200 travels the position of the navigation destination in the navigation pattern of the submersible boat 200 as in the above-mentioned "north latitude ... degree, east longitude ... degree left turn with a turning radius of 50 meters" It may be notified to 100. Alternatively, the submersible boat 200 may notify the ship 100 of the position of the navigation destination at one point, and navigate the ship 100 in a navigation pattern that repeatedly passes through the notified one point.
In addition, the depth of the position of the navigation destination of the submersible may or may not be determined. The position of the navigation destination of the submersible boat 200 may be determined so that the position of the sea surface immediately above the position of the navigation destination of the submersible boat 200 can be specified.

  In addition, the first underwater communication unit 110 transmits (transfers) the information received from the land base 910 by the to-base communication unit 150 to the submersible boat 200, and transmits the information received from the submersible boat 200 via the to-base communication unit 150. Transmit (transfer) to the land base 910. Thus, the ship 100 relays the communication between the submersible boat 200 and the land base 910.

  The first propulsion unit 120 causes the ship 100 to travel. Specifically, the first propulsion unit 120 propels the ship 100 and controls the traveling direction of the ship 100. Various configurations can be used as the configuration of the first propulsion unit 120. For example, the first propulsion unit 120 may include a screw and a rudder, rotate the screw to propel the ship 100, and control the traveling direction of the ship 100 by the rudder. Alternatively, the first propulsion unit 120 may include a thruster to propel the ship 100 by the outflow of water from the thruster and to control the traveling direction of the ship 100.

  The surrounding condition detection unit 130 detects an obstacle located around the ship 100. The surrounding condition detection unit 130 includes, for example, an Automatic Identification System (AIS) and a sonar, and detects other ships and drifts and the like located around the ship 100 as obstacles. However, the configuration of the surrounding condition detection unit 130 is not limited to the configuration including the automatic ship identification device and the sonar. For example, the surrounding condition detection unit 130 may include a ship radar in addition to or instead of the automatic ship identification device and the sonar.

The positioning unit 140 includes a positioning system such as, for example, a GNSS (Global Navigation Satellite System), and detects the current position of the ship 100.
The point-to-base communication unit 150 communicates with the land base 910 (FIG. 1) by radio waves. In particular, the base-to-base communication unit 150 transmits (transfers) the information received by the first underwater communication unit 110 from the submersible boat 200 to the onshore base 910, and also transmits the information received from the onshore base 910 to the first underwater communication unit 110. To the submersible boat 200 via the Thus, the ship 100 relays the communication between the submersible boat 200 and the land base 910. Further, the to-base communication unit 150 receives a command to the ship 100 transmitted from the land base 910.

The first control unit 190 includes, for example, a computer, and controls each part of the ship 100.
The error detection unit 191 detects an error included in the current position of the submersible boat 200 notified from the submersible boat 200 (the current position of the submersible boat 200 calculated by the current position calculator 291 of the submersible boat 200).
Specifically, the error detection unit 191 sets the underwater boat 200 to the ship 100 based on the direction of the sound wave received by the first underwater communication unit 110 from the underwater boat 200 and the delay time (the required time from transmission to reception). Calculate the relative position. Then, the error detection unit 191 obtains the current position of the submersible boat 200 as an absolute position based on the calculated relative position and the position (absolute position value) of the ship 100 obtained by the positioning unit 140. Then, the error detection unit 191 calculates a vector (difference vector of position) having the obtained absolute position as a start point and the current position of the diving boat 200 calculated by the current position calculation unit 291 as an end point as an error.
The position of the ship 100 obtained by the positioning unit 140 and the position of the ship 100 obtained by the error detection unit 191 may be indicated by an absolute position or may be indicated by a relative position from a predetermined reference position. .

  The correction unit 192 corrects the navigation destination position of the submersible boat 200 determined by the position determination notification unit 295 of the submersible boat 200. Specifically, the correction unit 192 subtracts the error (difference vector) calculated by the error detection unit 191 from the navigation destination position of the submersible boat 200 determined by the position determination notification unit 295.

  The behavior processing unit 193 determines whether or not the tracking of the submersible boat 200 is temporarily suspended while the ship 100 is tracking the submersible boat 200. For example, when it is determined that the continuation of tracking is physically impossible, such as when there is an obstacle such as another ship or a drifting object in the traveling direction of the ship 100, the behavior processing unit 193 temporarily suspends the tracking of the submersible boat 200. Then I decide. In addition, when the anti-base communication unit 150 is instructed by the command to the ship 100 received from the land base 910, an action other than the tracking of the submersible boat 200 (an action incompatible with the tracking of the submersible boat 200) is instructed. The unit 193 determines to suspend tracking of the submersible boat 200 temporarily.

Then, when it is determined that the action processing unit 193 suspends the tracking of the submersible boat 200, the diving suspender 200 suspends the tracking suspend (indication that the tracking is suspended temporarily) and the navigation pattern of the ship 100 at the time of the tracking suspend Notice. For example, when it is determined that the tracking of the submersible vehicle 200 is temporarily suspended to avoid an obstacle, the action processing unit 193 dives a navigation pattern for obstacle avoidance, such as turning to a turning radius of 50 meters to the left The boat 200 is notified. The action processing unit 193 sends a sound wave by controlling the first underwater communication unit 110, thereby notifying the submersible boat 200.
The ship 100 may avoid an obstacle by turning left or turning right, or may switch from forward to reverse to avoid the obstacle.

In addition, when notified of the location of the navigation destination of the submersible boat 200, the action processing unit 193 determines the location of the navigation destination of the boat 100 as the location of the navigation destination of the submersible boat 200 after the tracking suspension of the submersible boat 200 ends. Determine the position according to Specifically, the behavior processing unit 193 determines the position of the navigation destination of the ship 100 as the position of the sea directly above the navigation destination of the submersible boat 200.
The action processing unit 193 uses the corrected location of the navigation destination as the location of the navigation destination of the submersible boat 200. That is, the behavior processing unit 193 determines the position of the navigation destination of the ship 100 as the position of the sea directly above the navigation destination of the submersible boat 200 after correction by the error detection unit 191.

  The underwater second communication unit 210 performs acoustic communication (communication by sound waves) with the underwater first communication unit 110. In particular, the underwater second communication unit 210 receives notification of tracking suspension and suspension of the submersible boat 200 by the ship 100 and notification of the navigation pattern of the underwater boat 200 at the time of tracking suspension and suspension. In addition, when the position determination notification unit 295 determines the navigation destination of the submersible boat 200 in response to the notification of tracking temporary suspension, the underwater second communication unit 210 controls the navigation destination of the underwater boat 200 according to the control of the position determination notification unit 295. A notification is sent to the first underwater communication unit 110.

The second propulsion unit 220 causes the submersible boat 200 to travel. Specifically, the second propulsion unit 220 propels the submersible boat 200 and controls the traveling direction of the submersible boat 200. Various configurations can be used as the configuration of the second propulsion unit 220. For example, the second propulsion unit 220 may include a screw and a rudder, rotate the screw to propel the submersible boat 200, and control the traveling direction of the submersible boat 200 with the rudder. Alternatively, the second propulsion unit 220 may include a thruster to propel the submersible boat 200 by the outflow of water from the thruster, and control the traveling direction of the submersible boat 200.
The observation unit 230 observes the periphery of the submersible boat 200 in accordance with a command given to the submersible boat 200. For example, the observation unit 230 includes a camera, and images the outside of the submersible boat 200 according to a command from the land base 910.

The second control unit 290 includes, for example, a computer, and controls each unit of the submersible boat 200.
The current position calculation unit 291 calculates the current position of the submersible boat 200. Here, since it is not possible to receive signals from GNSS satellites in the sea, positioning systems such as GNSS can not be used. Therefore, the current position calculation unit 291 includes an inertial navigation system, and calculates the current position of the underwater boat 200 based on the integral of the speed of the underwater vehicle 200.

  Specifically, the current position calculation unit 291 stores the coordinates of the navigation start position of the submersible boat 200 in advance. Further, the current position calculation unit 291 includes an accelerometer, calculates the speed of the submersible boat 200 by integrating the acceleration, and calculates the moving distance of the submersible boat 200 by integrating the speed. Further, the current position calculation unit 291 includes a gyro and detects the traveling direction of the submersible boat 200. Then, the submersible boat 200 calculates the current position of the submersible boat 200 by combining (adding) the movement vector obtained from the speed and the traveling direction for each subdivision point. The current position calculation unit 291 transmits the calculated current position to the ship 100 via the underwater second communication unit 210.

  An error is accumulated at the position calculated by the current position calculation unit 291. Therefore, the position calculated by the current position calculation unit 291 usually includes an error larger than the position obtained using GNSS or the like. Therefore, as described above, the error detection unit 191 of the ship 100 detects an error included in the position calculated by the current position calculation unit 291. Thus, the first control unit 190 can more accurately grasp the current position of the submersible boat 200 and the position of the navigation destination.

The navigation operation determination unit 292 determines the position of the navigation destination of the submersible boat 200. In particular, when the navigation operation determination unit 292 receives a notification of tracking suspension from the boat 100, the navigation operation determining unit 292 determines the known position of the boat 100 after the tracking suspension is terminated as the navigation destination position of the submersible boat 200.
For example, the navigation operation determination unit 292 determines the position of the navigation destination of the submersible boat 200 to be the position of the navigation destination according to the same pattern as the navigation pattern of the ship 100. Here, the navigation pattern of the ship 100 is determined by the action processing unit 193 of the ship 100, and the ship 100 has known the navigation pattern. Therefore, when the submersible boat 200 travels in the same pattern as the navigation pattern of the ship 100, the ship 100 can know the position of the navigation destination of the submersible boat 200.
Alternatively, the navigation operation determination unit 292 determines the position of the navigation destination of the submersible boat 200, and notifies the ship 100 of the determined position via the underwater second communication unit 210. By the navigation operation determination unit 292 performing the notification, the ship 100 can know the position of the navigation destination of the submersible boat 200.

The availability determination unit 293 determines whether the submersible boat 200 can travel in the same pattern as the navigation pattern of the ship 100.
For example, when it is determined that the navigation can not be physically performed, for example, when there is a cliff (wall surface) in the traveling destination in the case where the submersible boat 200 navigates in the same pattern as the navigation pattern of the ship 100 It is determined that the submersible boat 200 can not navigate in the same pattern as the pattern. Also, even if the submersible boat 200 is performing work along a specific route and can not leave the route until the end of the task, the feasibility determination unit 293 determines that the submersible boat 200 navigates in the same pattern as the navigation pattern of the ship 100. Judge as impossible.
On the other hand, when it is determined that there is no obstacle to navigation by the submersible boat 200 in the same pattern as the navigation pattern of the ship 100, the availability determination unit 293 determines that the submersible boat 200 can travel in the same pattern as the navigation pattern of the ship 100. Do.

  When the followability determination unit 294 determines that the submersible boat 200 can travel in the same pattern as the navigation pattern of the ship 100, the determination unit 294 determines that the position of the navigation destination of the submersible boat 200 has the same navigation pattern as the navigation pattern of the ship 100. Determine the location of the navigation destination. As described above, the navigation pattern of the ship 100 is determined by the action processing unit 193 of the ship 100, and the ship 100 has known the navigation pattern. Therefore, when the submersible boat 200 travels in the same pattern as the navigation pattern of the ship 100, the ship 100 can know the position of the navigation destination of the submersible boat 200.

  The position determination notification unit 295 determines the position of the navigation destination of the submersible boat 200 when the possibility determination unit 293 determines that the submersible boat 200 can not travel in the same pattern as the navigation pattern of the ship 100. Specifically, the position determination notification unit 295 determines the position of the navigation destination of the submersible boat 200 based on the current position of the submersible boat 200 calculated by the current position calculation unit 291. Then, the position determination notification unit 295 notifies the ship 100 of the determined position via the underwater second communication unit 210. As described above, when the navigation operation determination unit 292 notifies the ship 100 of the position of the navigation destination of the submersible boat 200, the ship 100 can know the position of the navigation destination of the submersible boat 200.

Next, the operation of the navigation control system 1 will be described with reference to FIGS. 3 to 5.
FIG. 3 is an explanatory view showing a first example of processing performed by the boat 100 and the submersible boat 200 when the boat 100 suspends tracking of the submersible boat 200 temporarily.
In the example of the figure, the action processing unit 193 of the ship 100 decides to temporarily suspend the tracking of the submersible boat 200 by the ship 100 (sequence S101).
As described above, when it is determined that the continuation of the tracking of the submersible boat 200 by the ship 100 is physically impossible, the behavior processing unit 193 determines to suspend the tracking of the submersible boat 200 temporarily. In addition, when an instruction to the ship 100 instructs an action other than the tracking of the submersible boat 200, the action processing unit 193 determines to suspend the tracking of the submersible boat 200 temporarily.

In addition, the behavior processing unit 193 determines the navigation pattern of the vessel 100 at the time of the tracking suspension according to the cause of the suspension of the tracking (sequence S102). For example, when the tracking is temporarily suspended to avoid an obstacle, the behavior processing unit 193 determines a navigation pattern for obstacle avoidance, such as turning with a turning radius of 50 meters to the left. Alternatively, when the tracking is temporarily suspended in response to the command to the ship 100, the behavior processing unit 193 determines a navigation pattern for executing the command.
The ship 100 navigates according to the navigation pattern determined by the action processing unit 193. Specifically, the behavior processing unit 193 controls the first propulsion unit 120 to cause the ship 100 to travel according to the determined navigation pattern.
In addition, the action processing unit 193 transmits a notification of tracking suspension and a notification of the navigation pattern of the ship 100 at the time of tracking suspension to the submersible boat 200 via the first communication unit 110 under water (sequence S103). That is, the first underwater communication unit 110 transmits, to the submersible boat 200, a notification of tracking suspension and a notification of the navigation pattern of the ship 100 at the time of tracking suspension according to the control of the action processing unit 193.

  Whether the submersible boat 200 can navigate in the same pattern as the navigation pattern of the ship 100 is received or not for the ship 100 that has received notification of tracking suspension and notification of the navigation pattern of the ship 100 at the time of tracking suspension Is determined (sequence S111). In the example of FIG. 3, the availability determination unit 293 determines that the submersible boat 200 can travel in the same pattern as the navigation pattern of the ship 100. As described above, when it is determined that there is no obstacle to navigation by the submersible boat 200 in the same pattern as the navigation pattern of the ship 100, the feasibility determination unit 293 determines that the submersible boat 200 navigates in the same pattern as the navigation pattern of the ship 100. Judge as possible.

Then, the follow-up determination unit 294 determines the position of the navigation destination of the submersible boat 200 as the position of the navigation destination according to the same navigation pattern as the navigation pattern of the ship 100 (sequence S112).
The submersible boat 200 navigates according to the navigation pattern determined by the tracking determination unit 294. Specifically, the follow-up determination unit 294 controls the second propulsion unit 220 to cause the submersible boat 200 to travel according to the determined navigation pattern.
When the submersible boat 200 travels in the same navigation pattern as the navigation pattern of the ship 100, the positional relationship between the ship 100 and the submersible boat 200 is maintained. In particular, the submersible boat 200 continues to be located within the communicable range of the ship 100. This can reduce the possibility of the ship 100 losing sight of the submersible boat 200.

FIG. 4 is an explanatory view showing a second example of processing performed by the ship 100 and the submersible boat 200 when the ship 100 suspends tracking of the submersible boat 200 temporarily.
Sequences S201 to S203 in FIG. 4 are the same as sequences S101 to S103 in FIG.

Whether the submersible boat 200 can navigate in the same pattern as the navigation pattern of the ship 100 is received or not for the ship 100 that has received notification of tracking suspension and notification of the navigation pattern of the ship 100 at the time of tracking suspension Are determined (sequence S211). In the example of FIG. 4, the availability determination unit 293 determines that the submersible boat 200 can not navigate in the same pattern as the navigation pattern of the ship 100.
As described above, the navigation of the submersible boat 200 in the same pattern as the navigation pattern of the ship 100 as an example where the availability determination unit 293 determines that the submersible boat 200 can not travel in the same pattern as the navigation pattern of the ship 100. May be determined to be physically impossible. Further, as another example in the case where it is determined that the submersible boat 200 can not travel in the same pattern as the navigation pattern of the ship 100, the availability determination unit 293 determines that the submersible boat 200 can not leave a specific route. Can be mentioned.

Then, the position determination notification unit 295 determines the position of the navigation destination of the submersible boat 200 (sequence S212). For example, the position determination notification unit 295 determines the planned end position of the work being performed by the submersible boat 200 as the navigation destination position. The submersible boat 200 continues to wait until it merges with the vessel 100 at the navigation destination position determined by the position determination notification unit 295 in sequence S211. That is, the position of the navigation destination determined by the position determination notification unit 295 in the sequence S211 is the standby position of the submersible boat 200. Hereinafter, the position of the navigation destination determined by the position determination notification unit 295 is referred to as a standby position.
The submersible boat 200 navigates to the standby position determined by the position determination notification unit 295. In addition, when the submersible boat 200 is performing the work which can not be interrupted temporarily, it navigates to a waiting position after the work concerned concerned ends.

In addition, the navigation operation determination unit 292 transmits the notification of the standby position determined in the sequence S212 to the ship 100 via the second underwater communication unit 210, and the current position calculation unit 291 calculates the current position of the submersible boat 200 calculated. Is transmitted to the ship 100 via the underwater second communication unit 210 (sequence S213).
After the sequence S213, when the submersible boat 200 reaches the standby position determined in the sequence S211, the submersible boat 200 waits for the ship 100 at the standby position (sequence S221).

On the other hand, in the ship 100 that has received the notification of the standby position and the notification of the current position of the submersible boat 200, the error detection unit 191 calculates the current position of the submersible boat 200 obtained in sequence S213 (the current position calculation unit 291 calculates An error included in the current position of the submersible boat 200 is calculated (sequence S231).
Then, the correction unit 192 corrects the standby position of the diving boat 200 obtained in the sequence S213 based on the error calculated by the error detection unit 191 (sequence S232).
Then, after the cause of the tracking suspension is resolved, the behavior processing unit 193 determines the corrected standby position calculated by the correction unit 192 as the navigation destination of the ship 100 (sequence S233).
The ship 100 sails to the navigation destination determined by the behavior processing unit 193.
Thus, the ship 100 can approach the position where the submersible boat 200 actually stands by by navigating to the corrected standby position. At this point, the possibility that the ship 100 can find the submersible boat 200 can be enhanced.

The timing at which the underwater second communication unit 210 transmits the notification of the current position of the submersible boat 200 calculated by the current position calculation unit 291 to the ship 100 is not limited to the timing of transmitting the notification of the standby position (sequence S213) . For example, the underwater second communication unit 210 may periodically transmit the notification of the current position of the submersible boat 200 calculated by the current position calculation unit 291 to the ship 100. In this case, each time the error detection unit 191 receives notification of the current position of the submersible boat 200, the error included in the current position may be calculated. In addition, in sequence S232, the correction unit 192 may correct the standby position of the diving boat 200 based on the latest error calculated by the error detection unit 191.
On the other hand, if the underwater second communication unit 210 also transmits the notification of the current position to the ship 100 at the timing when the underwater second communication unit 210 transmits the notification of the standby position to the ship 100 as in the sequence S213 of FIG. There is no need to repeatedly send notifications. At this point, it is possible to avoid an increase in the load on the underwater second communication unit 210.

Here, the correction of the standby position performed by the correction unit 192 will be described with reference to FIG.
FIG. 5 is an explanatory view showing an example of the standby position after correction calculated by the correction unit 192. As shown in FIG.
A position P111 in the figure indicates an example of the position of the boat 100 when the action processing unit 193 determines the tracking suspension. A position P121 indicates an example of the current position of the diving boat 200 calculated by the current position calculation unit 291 when the action processing unit 193 determines the tracking suspension. A position P122 indicates an example of the current position of the ship 100 calculated by the error detection unit 191 when the action processing unit 193 determines the tracking suspension. The error detection unit 191 performs position P122 based on the current position of the ship 100 measured by the positioning unit 140 and the relative position of the submersible boat 200 to the ship 100 calculated based on the sound wave received by the first water communication unit 110. Calculate

A position P221 indicates an example of the standby position of the submersible boat 200 notified by the submersible boat 200 to the ship 100 (the standby position of the submersible boat 200 determined by the position determination notification unit 295). A position P222 indicates an example of the standby position after correction by the correction unit 192.
An arrow B11 indicates an example of the error calculated by the error detection unit 191. An arrow B12 indicates an example of a vector from the start point to the end point of the navigation pattern of the submersible boat 200 determined by the position determination notification unit 295. Arrow B13 shows an example of the navigation route of the ship 100.

As described above, the current position of the submersible boat 200 calculated by the current position calculator 291 is likely to include a relatively large error. In particular, the error included in the current position of the underwater vehicle 200 calculated by the error detection unit 191 based on the positioning result of the ship 100 by the positioning unit 140 is included in the current position of the underwater boat 200 calculated by the current position calculation unit 291 Error is considered to be larger.
Therefore, the error detection unit 191 is a difference obtained by subtracting the current position (position P122) of the underwater boat 200 calculated by the error detection unit 191 itself from the current position (position P121) of the underwater boat 200 calculated by the current position calculation unit 291. A vector (vector indicated by arrow B11) is calculated. Then, the error detection unit 191 treats the calculated difference vector as an error included in the current position of the submersible boat 200 calculated by the current position calculation unit 291.

  In addition, it is considered that the standby position (the position of the navigation destination of the diving boat 200) determined by the position determination notification unit 295 also includes an error similar to the current position of the diving boat 200 calculated by the current position calculation unit 291. Be Specifically, the position determination notification unit 295 adds the vector (the vector indicated by the arrow B12) for the movement of the submersible boat 200 to the current position (position P121) of the submersible boat 200 calculated by the current position calculation unit 291. Thus, the standby position (position P221) of the submersible boat 200 is calculated. Since the position determination notification unit 295 calculates the standby position starting from the current position calculated by the current position calculation unit 291, the same error as the error included in the current position calculated by the current position calculation unit 291 is at the standby position Is also considered to be included.

Therefore, the correction unit 192 corrects the standby position of the submersible boat 200 calculated by the position determination notification unit 295 based on the error calculated by the error detection unit 191. Specifically, the correction unit 192 corrects by subtracting the error (vector indicated by the arrow B11) calculated by the error detection unit 191 from the standby position (position P221) of the submersible boat 200 calculated by the position determination notification unit 295. The subsequent standby position (position P222) is calculated. It is considered that the standby position after correction (position P222) is closer to the standby position actually reached by the underwater boat 200 than the standby position (position P221) calculated by the position determination notification unit 295.
Therefore, the ship 100 navigates to the standby position (position P222) after correction as indicated by the arrow B13 after the cause of the tracking suspension is resolved. Thus, the ship 100 can approach the actual standby position of the submersible boat 200 more than the case of going to the standby position calculated by the position determination notification unit 295. Thereby, the possibility that the ship 100 can find the submersible boat 200 can be increased.

As described above, when the action processing unit 193 determines to suspend tracking of the submersible boat 200, the behavior processing unit 193 notifies the submersible boat 200 of tracking suspension. And the navigation operation determination part 292 of the submersible boat 200 determines the known position of the ship 100 after ending tracking temporary suspension as the position of the navigation destination of the submersible boat 200, when the notification of tracking temporary suspension is received.
Thereby, the ship 100 can navigate to a position based on the position of the navigation destination of the submersible boat 200 (for example, the position of the sea surface immediately above the navigation destination of the submersible boat 200). At this point, the possibility that the ship 100 can find the submersible boat 200 can be enhanced.

For example, when notified of the tracking suspension, the navigation operation determination unit 292 determines the position of the navigation destination of the submersible boat 200, and notifies the ship 100 of the determined position.
The navigation operation determination unit 292 notifies the position of the navigation destination of the submersible boat 200 to the ship 100, so that the ship 100 can know the position of the navigation destination of the submersible boat 200, and the navigation destination position of the submersible boat 200 It can be navigated. At this point, the possibility that the ship 100 can find the submersible boat 200 can be enhanced.

Further, the current position calculation unit 291 calculates the current position of the submersible boat 200. Then, when notified of the temporary suspension of tracking, the position determination notification unit 295 determines the position of the navigation destination of the submersible boat 200 based on the current position of the submersible boat 200 calculated by the current position calculation unit 291. The ship 100 is notified of the position and the current position of the submersible boat 200 calculated by the current position calculation unit 291. Further, the error detection unit 191 detects an error included in the current position of the submersible boat 200 calculated by the current position calculation unit 291. Then, the correction unit 301 corrects the navigation destination position of the submersible boat 200 determined by the position determination notification unit 295 based on the error calculated by the error detection unit 191.
Thereby, the correction unit 301 can obtain the position of the navigation destination of the submersible boat 200 with higher accuracy. That is, the navigation destination position of the submersible boat 200 required by the correction unit 301 is closer to the actual navigation destination position of the submersible boat 200. The ship 100 can approach the submersible boat 200 by moving (navigation) the ship 100 to the navigation destination position obtained by the correction unit 301. At this point, the possibility that the ship 100 can find the submersible boat 200 can be enhanced.

In addition, the action processing unit 193 notifies the submersible boat 200 of the navigation pattern of the ship 100 at the time of tracking suspension. Then, the possibility determination unit 293 determines whether or not the submersible boat 200 can travel in the same pattern as the navigation pattern of the ship 100. When the availability determination unit 293 determines that the submersible boat 200 can travel in the same pattern as the navigation pattern of the ship 100, the tracking determination unit 294 determines the position of the navigation destination of the submersible boat 200 according to the same navigation pattern as the navigation pattern of the ship 100. Determine the location of the navigation destination. On the other hand, the position determination notification unit 295 determines the position of the navigation destination of the submersible boat 200 when the availability determination unit 293 determines that the submersible boat 200 can not travel in the same pattern as the navigation pattern of the ship 100. Is notified to the ship 100.
If the submersible boat 200 navigates in the same pattern as the navigation pattern of the ship 100, the submersible boat 200 continues to be within the communicable range of the ship 100. Thereby, the ship 100 can discover the submersible boat 200 without having to move for discovering the submersible boat 200. Further, even if it is determined that the submersible boat 200 can not be navigated in the same pattern as the navigation pattern of the ship 100, the action processing unit 193 receives the notification of the location of the navigation destination of the submersible boat 200 and receives the notification. By sailing to the bottom, the possibility of finding the submersible boat 200 can be increased.
Furthermore, the submersible boat 200 travels autonomously in both the case where the submersible boat 200 travels in the same pattern as the navigation pattern of the ship 100 and the case where the submersible boat 200 notifies the ship 100 of the position of the navigation destination. Therefore, it is not necessary for the ship 100 to control the submersible boat 200, and the load on the ship 100 can be reduced at this point. In addition, the submersible boat 200 can navigate without having to know the position of the ship 100, and the load on the submersible boat 200 can be reduced at this point.

Second Embodiment
In the first embodiment, the case where the ship 100 corrects the standby position (the position of the navigation destination of the underwater boat 200 notified to the ship 100) has been described, but the underwater boat 200 corrects the standby position. It is also good. In the second embodiment, the case where the submersible boat 200 corrects the standby position will be described.
The device configuration of the navigation control system according to the second embodiment is the same as that described with reference to FIG.

  FIG. 6 is a schematic block diagram showing the functional configuration of a vessel and a watercraft according to a second embodiment of the present invention. As shown in the figure, the ship 100 includes an underwater first communication unit 110, a first propulsion unit 120, an ambient condition detection unit 130, a positioning unit 140, a base-to-base communication unit 150, and a first control unit 190. And The first control unit 190 includes an error detection unit 191 and an action processing unit 193. In addition, the submersible boat 200 includes an underwater second communication unit 210, a second propulsion unit 220, an observation unit 230, and a second control unit 290. The second control unit 290 includes a current position calculation unit 291, a correction unit 301, and a navigation operation determination unit 292. The navigation operation determination unit 292 includes an availability determination unit 293, a follow-up determination unit 294, and a position determination notification unit 295.

Among the parts shown in FIG. 6, the parts having the same functions as those in FIG. 2 have the same reference numerals (100, 110, 120, 130, 140, 150, 190, 191, 193, 200, 210, 220 , 230, 290 to 295) and the description is omitted. The functional configuration shown in FIG. 6 is different from the case of FIG. 2 in that the ship 100 does not include the correction unit, and the submersible boat 200 includes the correction unit 301.
The correction unit 301 corrects, as in the correction unit 192 in FIG. 2, the position of the navigation destination of the submersible boat 200 determined by the position determination notification unit 295. Specifically, the correction unit 301 subtracts the error (difference vector) calculated by the error detection unit 191 from the navigation destination position of the submersible boat 200 determined by the position determination notification unit 295.

The operation of the navigation control system 1 when the ship 100 suspends the tracking of the submersible boat 200 temporarily and the availability determination unit 293 determines that the submersible boat 200 can travel in the same pattern as the navigation pattern of the ship 100 is shown in FIG. The description is the same as that described with reference to FIG.
Hereinafter, with reference to FIG. 7, navigation in the case where ship 100 suspends tracking of submersible boat 200 temporarily, and availability determination unit 293 determines that submersible boat 200 can not travel in the same pattern as the navigation pattern of ship 100. The operation of the control system 1 will be described.

FIG. 7 is an explanatory view showing a third example of the process performed by the boat 100 and the submersible boat 200 when the boat 100 suspends the tracking of the submersible boat 200 temporarily.
Sequences S301 to S312 in FIG. 7 are the same as sequences S201 to S212 in FIG. 4.

After the sequence S312, the current position calculation unit 291 transmits a notification of the calculated current position of the submersible boat 200 to the ship 100 via the underwater second communication unit (sequence S313). While the second underwater communication unit 210 transmits the notification of the standby position to the ship 100 in addition to the notification of the current position in the sequence S213 of FIG. 4, the second underwater communication unit 210 in the standby state in the sequence S313 of FIG. The notification of the position is not sent to the ship 100.
Note that either the sequence S312 or the sequence S313 may be performed first, or the sequences S312 and S313 may be performed simultaneously.

The sequence S321 is similar to the sequence S231 of FIG. After the sequence S321, the error detection unit 191 notifies the submersible boat 200 of the error calculated in the sequence S321 via the first water communication unit 110 (sequence S322).
In the submersible boat 200 that has received the notification of the error, the correction unit 301 corrects the standby position obtained in the sequence S312 based on the error (sequence S331).
Further, the current position calculation unit 291 corrects the current position of the submersible boat 200 based on the error (sequence S332).
Note that either sequence S331 or sequence S332 may be executed first, or sequence S331 and sequence S332 may be simultaneously executed.

Next, the correction unit 301 notifies the ship 100 of the notification of the standby position after correction obtained in the sequence S331 via the underwater second communication unit 210 (sequence S333). Note that either sequence S332 or sequence S333 may be executed first, or sequence S332 and sequence S333 may be simultaneously executed.
After that, when the submersible boat 200 reaches the corrected standby position obtained in the sequence S333, the submersible boat 200 waits for the ship 100 at the standby position (sequence S341).

On the other hand, in the ship 100 that has received the notification of the standby position after correction, the action processing unit 193 determines the standby position after correction as the navigation destination of the ship 100 after the cause of the tracking suspension is eliminated (sequence S351). .
The ship 100 sails to the navigation destination determined by the behavior processing unit 193.

As described above, the current position calculation unit 291 calculates the current position of the submersible boat 200, and notifies the ship 100 of the calculated current position.
Then, the error detection unit 191 detects an error included in the current position of the underwater boat 200 calculated by the current position calculation unit 291 and notifies the underwater boat 200 of the detected error. Further, when notified of the temporary suspension of tracking, the position determination notification unit 295 determines the position of the navigation destination of the submersible boat 200 based on the current position of the submersible boat 200 calculated by the current position calculation unit 291. Then, the correction unit 301 corrects the position of the navigation destination of the submersible boat 200 determined by the position determination notification unit 295 based on the error, and notifies the ship 100 of the position of the navigation destination of the submersible boat 200 after correction.
As described above, even when the submersible boat 200 performs the correction of the standby position instead of the ship 100, the ship 100 can be closer to the position where the submersible boat 200 actually stands by. At this point, the possibility that the ship 100 can find the submersible boat 200 can be enhanced.

A program for realizing all or a part of functions of the first control unit 190 and the second control unit 290 is recorded in a computer readable recording medium, and the program recorded in the recording medium is recorded in a computer system. The processing of each part may be performed by reading and executing. Here, the “computer system” includes an OS and hardware such as peripheral devices.
The term "computer-readable recording medium" refers to a storage medium such as a flexible disk, a magneto-optical disk, a ROM, a portable medium such as a ROM or a CD-ROM, or a hard disk built in a computer system. The program may be for realizing a part of the functions described above, or may be realized in combination with the program already recorded in the computer system.

  Although the embodiments of the present invention have been described in detail with reference to the drawings, the specific configuration is not limited to this embodiment, and design changes and the like within the scope of the present invention are also included.

DESCRIPTION OF SYMBOLS 1 navigation control system 100 ship 110 1st underwater communication part 120 1st propulsion part 130 surrounding condition detection part 140 positioning part 150 base communication part 190 1st control part 191 error detection part 192, 301 correction part 193 action processing part 200 diving Boat 210 underwater second communication unit 220 second propulsion unit 230 observation unit 290 second control unit 291 current position calculation unit 292 navigation operation determination unit 293 possibility determination unit 294 tracking determination unit 295 position determination notification unit 910 land base 920 communication satellite

Claims (15)

And a second navigation body that is tracked by the first navigation body and travels underwater.
When it is determined that the first navigation body suspends the tracking of the second navigation body, the first navigation body notifies the second navigation body of the tracking suspension and the navigation pattern of the first navigation body at the time of the tracking suspension. Equipped with an action processor,
The second navigation body is
A determination unit that determines whether or not the second navigation body can travel in the same pattern as the navigation pattern of the first navigation body when notified of the tracking suspension;
When the availability determination unit determines that the second navigation body can not travel in the same pattern as the navigation pattern of the first navigation body, the first navigation body after the tracking suspension is determined to have a known position A navigation operation determination unit that determines the position of the navigation destination of the second navigation body;
Equipped with
The navigation operation determination unit includes a position determination notification unit that notifies the first navigation body of the determined position.
Navigation control system. The second navigation body further includes a current position calculation unit that calculates a current position of the second navigation body and notifies the first navigation body of the calculated current position.
The position determination notification unit determines the position of the navigation destination of the second navigation body based on the current position of the second navigation body calculated by the current position calculation unit when notified of the tracking temporary suspension. ,
Informing the first navigation body of the determined position,
The first vessel is
An error detection unit that detects an error included in the current position of the second navigation body calculated by the current position calculation unit;
A correction unit configured to correct the position of the navigation destination of the second navigation body determined by the position determination notification unit based on the error;
The navigation control system according to claim 1 , further comprising: The second navigation body is
A current position calculation unit that calculates the current position of the second navigation body and notifies the first navigation body of the calculated current position;
A correction unit that corrects the position of the navigation destination of the second navigation body determined by the position determination notification unit;
And further
The first navigation body further includes an error detection unit that detects an error included in the current position of the second navigation body calculated by the current position calculation unit, and notifies the detected error to the second navigation body.
The position determination notification unit determines the position of the navigation destination of the second navigation body based on the current position of the second navigation body calculated by the current position calculation unit when notified of the tracking temporary suspension. ,
The correction unit corrects the navigation destination position of the second navigation body determined by the position determination notification unit based on the error, and the corrected navigation destination position of the second navigation body is the first navigation The navigation control system according to claim 1 , which notifies the body. The navigation operation determination unit determines the navigation destination position of the second navigation body when the availability determination unit determines that the second navigation body can be navigated in the same pattern as the navigation pattern of the first navigation body. It further comprises a follow-up determination unit which determines the position of the navigation destination by the same navigation pattern as the navigation pattern of one navigation body,
The navigation control system according to any one of claims 1 to 3 . And a second navigation body that is tracked by the first navigation body and travels underwater.
When it is determined that the first navigation body suspends the tracking of the second navigation body, the first navigation body notifies the second navigation body of the tracking suspension and the navigation pattern of the first navigation body at the time of the tracking suspension. Equipped with an action processor,
The second navigation body is
A determination unit that determines whether or not the second navigation body can travel in the same pattern as the navigation pattern of the first navigation body when notified of the tracking suspension;
When the availability determination unit determines that the second navigation body can be navigated in the same pattern as the navigation pattern of the first navigation body, the location of the navigation destination of the second navigation body is the navigation pattern of the first navigation body and A tracking determination unit that determines the position of the navigation destination by the same navigation pattern;
When the availability determination unit determines that the second navigation body can not travel in the same pattern as the navigation pattern of the first navigation body, the first navigation body after the tracking suspension is determined to have a known position A position determination notification unit that determines the position of the navigation destination of the second navigation body and notifies the first navigation body of the determined position;
Navigation control system comprising: An underwater vehicle that follows the underwater vehicle and travels over the water,
A surface navigation body comprising a behavior processing unit for notifying the underwater navigation body of a tracking suspension and a navigation pattern of the surface navigation body at the time of tracking suspension when it is determined to suspend the tracking of the underwater navigation body. The underwater navigation system further includes a notification acquiring unit that acquires a notification of the location of the navigation destination of the underwater navigation body, which is determined when it is determined that the underwater navigation body can not travel in the same pattern as the navigation pattern of the watercraft.
The action processing unit, when the notification acquiring unit acquires the notification of the position of the navigation destination of the underwater vehicle, the position of the navigation destination of the marine navigation object after the termination of the tracking suspension of the underwater navigation member. Determined based on the location of the navigation target of the underwater vehicle,
A watercraft according to claim 6 . An underwater vehicle that is tracked by the surface vehicle and navigates the water,
When notified of tracking suspension of the underwater vehicle by the surface vehicle and notification of the navigation pattern of the surface vehicle at the time of tracking suspension, the underwater vehicle with the same pattern as the navigation pattern of the surface vehicle A determination unit that determines whether or not the navigation is possible;
When the availability determination unit determines that navigation is impossible in the same pattern as the navigation pattern of the surface navigation body, the position of the underwater navigation body at a known location of the underwater navigation body after termination of the tracking suspension is A navigation operation determination unit that determines a position;
Equipped with
The navigation operation determination unit notifies the surface vehicle of the determined position,
Underwater vehicle. A navigation control method of a navigation control system comprising: a first navigation body traveling on water; and a second navigation body tracked by the first navigation body and traveling in water,
When it is determined that the first navigation body suspends tracking of the second navigation body, the second navigation body is notified of the tracking suspension and the navigation pattern of the first navigation body at the time of the tracking suspension. Action processing step,
When the second navigation body is notified of the tracking suspension, determining whether the second navigation body can travel in the same pattern as the navigation pattern of the first navigation body;
If it is determined that the second navigation body can not be navigated in the same pattern as the navigation pattern of the first navigation body, the first navigation body after known tracking is determined to be the second navigation Navigation operation determination step of determining the position of the navigation destination of the body;
Only including,
The navigation control method, wherein the second navigation body notifies the first navigation body of the determined position .   When it is determined that the underwater vehicle tracking the underwater vehicle to suspend on the water temporarily suspends the tracking of the underwater vehicle, the tracking suspension and the navigation pattern of the floating vehicle at the time of the tracking suspension are described above. Tracking suspension processing method for notifying the underwater vehicle. A notification acquiring step of acquiring the notification of the position of the navigation destination of the underwater navigation body determined when the underwater navigation body is determined to be incapable of navigation in the same pattern as the navigation pattern of the underwater navigation body; When,
When the surface vehicle receives notification of the position, the position of the destination of the surface vehicle is determined based on the position of the destination of the watercraft after termination of the tracking suspension of the watercraft. Navigation destination determination step
including,
The tracking temporary interruption processing method according to claim 10 . When an underwater vehicle tracked by the surface vehicle and traveling in the water receives notification of tracking suspension of the underwater vehicle by the surface vehicle and a navigation pattern of the surface vehicle at the time of tracking suspension; Determining whether navigation is possible in the same pattern as the navigation pattern of the watercraft;
When it is determined that navigation is not possible in the same pattern as the navigation pattern of the surface vehicle, the surface vehicle determines the known position after the completion of the tracking suspension as the position of the navigation destination of the underwater vehicle ,
A navigation destination determination method for notifying the surface vehicle of the determined position . A computer for controlling an on-the-fly navigation system that tracks on the underwater vehicle by tracking the underwater vehicle;
A program for performing processing of notifying the underwater navigation body of a tracking suspension and a navigation pattern of the surface navigation body at the time of tracking suspension when it is determined to suspend the tracking of the underwater navigation body. On the computer
A notification acquiring step of acquiring a notification of the position of the navigation destination of the underwater navigation body, which is determined when it is determined that the underwater navigation body can not be navigated in the same pattern as the navigation pattern of the floating navigation body;
A navigation destination determination step of determining the position of the navigation destination of the surface navigation body based on the position of the navigation destination of the underwater navigation body after the suspension of tracking suspension of the underwater navigation body when the notification of the position is acquired When,
The program according to claim 13 , for performing. A computer for controlling an underwater vehicle tracked by the underwater vehicle and navigating the water,
When notified of tracking suspension of the underwater vehicle by the surface vehicle and notification of the navigation pattern of the surface vehicle at the time of tracking suspension, it is possible to navigate in the same pattern as the navigation pattern of the surface vehicle To determine
When it is determined that navigation is not possible in the same pattern as the navigation pattern of the surface vehicle, the surface vehicle determines the known position after the completion of the tracking suspension as the position of the navigation destination of the underwater vehicle ,
A program for performing processing of notifying the surface vehicle of the determined position .

Images