JP6733416B2 - Underwater vehicle monitoring device and underwater vehicle monitoring method - Google Patents

Description

TECHNICAL FIELD The present invention relates to an underwater vehicle monitoring device and a method for monitoring an underwater vehicle provided in a watercraft for monitoring a plurality of underwater vehicles.

As one of the means for conducting various investigations on the seabed, lakebed, and water, a method using an underwater vehicle (UUV: Unmanned Undersea Vehicle) that autonomously travels is considered.

The underwater vehicle of this type measures the position of its own by, for example, latitude and longitude by combining inertial navigation by an inertial navigation device and information obtained by a Doppler type ground speed meter.

By the way, it is conceivable that when an underwater vehicle continues to travel autonomously for a long time, an error may be accumulated in measuring the position of the own vehicle due to an error accumulated in inertial navigation.

Therefore, a self-position detecting device for detecting the position of the self-propelled underwater vehicle (USV: Unmanned Surface Vehicle) using GPS or the like, and an acoustic positioning device for acoustically positioning the underwater vehicle. Based on the absolute coordinates regarding the position of the own aircraft detected by the self-position detecting device, and the relative distance and direction of the underwater vehicle based on the position of the own aircraft obtained by the acoustic positioning device. , It has been proposed to be able to detect the position of underwater vehicles.

Furthermore, in order to efficiently survey wide and deep sea areas such as the open sea, a method of operating multiple underwater vehicles at the same time and monitoring multiple underwater vehicles with one watercraft is also available. It is considered (for example, refer to Patent Document 1).

As described above, when a plurality of underwater vehicles are monitored by one underwater vehicle, it is desirable that the underwater vehicles be arranged at positions where all underwater vehicles can be acoustically positioned. ..

JP, 2009-227086, A

However, there is a limit to the arrival area of the sound waves emitted by the acoustic positioning device.

Therefore, when multiple underwater vehicles are operated in a widely dispersed arrangement, the area where the underwater vehicles can exist is the area in which the acoustic positioning device equipped on the watercraft can perform positioning. It may be wider than that. Therefore, depending on the arrangement of each underwater vehicle, it may not be possible to arrange the underwater vehicle at a position where acoustic positioning of all underwater vehicles is possible.

In such a situation, the underwater vehicle, which is located outside the acoustically positionable area by the acoustical positioning device provided for the watercraft, is monitored by the acoustic positioning from the watercraft. Can't do it.

As described above, as a countermeasure against the occurrence of underwater vehicles that cannot be monitored by acoustic positioning, for example, place the underwater vehicles near the center of each traveling area set for each underwater vehicle. It is conceivable to rotate the position sequentially. However, with this method, it is possible to restart the acoustic positioning of an underwater vehicle that was once unable to perform positioning, but it may be necessary to wait until the next lap of the surface vehicle, so the underwater vehicle cannot be positioned. It takes time to restart the acoustic positioning of the body.

Therefore, in the present invention, when a single underwater vehicle is used to monitor a plurality of underwater vehicles by acoustic positioning, if an underwater vehicle with an arrangement that makes acoustic positioning impossible occurs, It is intended to provide an underwater vehicle monitoring device and an underwater vehicle monitoring method capable of promptly restarting acoustic positioning of an underwater vehicle.

In order to solve the above problems, the present invention provides a control unit, a self-position detecting device, an acoustic positioning device capable of acoustic positioning for a plurality of underwater vehicles, and a running device in a body of a watercraft. And, when the underwater vehicle in which acoustic positioning is impossible occurs among the plurality of underwater vehicles that perform acoustic positioning by the acoustic positioning device, the control unit cannot perform the acoustic positioning. Further, the underwater vehicle monitoring device has a configuration having a function of giving a command for setting a target position to a position above the position at which the underwater vehicle is finally positioned.

When a plurality of underwater vehicles that perform acoustic positioning by the acoustic positioning device are incapable of acoustic positioning, the control unit causes the underwater navigation with the earliest positioning time to be the earliest. The configuration is such that it is set as a search target in order from the body, and the navigation device is sequentially given a command to set a target position at a position above the position where the search target was last positioned.

Even if the watercraft moves to send a command to the target position at a position above the position where the search target is finally positioned, the control unit acoustically positions the search target. When it is not possible, the search target is temporarily excluded from the search target.

Further, when acoustic positioning of a plurality of underwater vehicles is performed by the acoustic positioning device provided in the body of the watercraft, if the underwater vehicle is incapable of acoustic positioning, the acoustic positioning becomes impossible. The underwater vehicle monitoring method is to move the underwater vehicle, which is located above the position of the last position of the underwater vehicle, to the target position.

According to the underwater vehicle monitoring device and the underwater vehicle monitoring method of the present invention, acoustic positioning is impossible when one underwater vehicle monitors a plurality of underwater vehicles by acoustic positioning. When an underwater vehicle with the following arrangement occurs, acoustic positioning of the underwater vehicle can be promptly restarted.

It is a schematic diagram showing an embodiment of an underwater vehicle monitoring device. It is a schematic plan view which shows the outline of the traveling area of a plurality of underwater vehicles. It is a figure which shows the 1st process performed in the control part of FIG. It is a figure which shows the 2nd process performed in the control part of FIG. It is a figure which shows the underwater vehicle search process in a 2nd process.

Embodiments for carrying out the present invention will be described below with reference to the drawings.

FIG. 1 is a schematic diagram showing an embodiment of an underwater vehicle monitoring device. FIG. 2 is a diagram showing an example of arrangement of the traveling regions of a plurality of underwater vehicles, and FIG. 2(a) is a schematic plan view showing a state in which the underwater vehicle holds the current position, FIG. [Fig. 4] is a schematic plan view showing a state in which the underwater vehicle moves when an underwater vehicle for which acoustic positioning is impossible occurs. FIG. 3 is a flowchart showing a first process executed by the control unit in the underwater vehicle monitoring device. FIG. 4 is a flow chart showing a second process executed by the control unit in the underwater vehicle monitoring device, and FIG. 5 is a flow chart showing an underwater vehicle search process.

In the present embodiment, as shown in FIGS. 1 and 2, one underwater vehicle 1 includes, for example, four underwater vehicles 2a, 2b, 2c, 2d as a plurality of underwater vehicles. An example of monitoring will be described.

The underwater vehicle 1 is provided with an underwater vehicle monitoring device 3, as shown in FIG.

The underwater vehicle monitoring device 3 includes a control unit 5 mounted on an airframe (hull) 4 of the watercraft 1, and further includes a self-position detection device 6 connected to the control unit 5 and an acoustic positioning device 7. And the marine vessel 8 are provided.

The self-position detecting device 6 receives, for example, a navigation signal by radio waves of a global navigation satellite system such as GPS, and obtains an absolute position such as latitude and longitude with respect to the position of the watercraft 1 itself. It has a function to do. Note that the self-position detecting device 6 may use a navigation satellite system other than GPS or use a signal from a ground station as long as it can detect the position of the own body of the watercraft 1. Of course.

The acoustic positioning device 7 is provided on the bottom of the ship, which is a submerged portion of the airframe 4, for acoustically positioning the positions of the underwater vehicles 2a, 2b, 2c, 2d at preset time intervals. It is a thing. The acoustic positioning device 7 is, for example, a process from transmitting a calling signal to receiving a response signal generated by the transponders 9a, 9b, 9c, 9d provided in each underwater vehicle 2a, 2b, 2c, 2d. A function for obtaining the relative position of each underwater vehicle 2a, 2b, 2c, 2d based on the position of the underwater vehicle 1 as a positioning result, based on the time and the direction (angle) at which the response signal arrives. I have it. Note that the acoustic positioning device 7 may use the acoustic positioning device 7 of any format and positioning method as long as it can detect the position of each underwater vehicle 2a, 2b, 2c, 2d to be monitored. Of course.

Therefore, the transponders 9a, 9b, 9c, 9d may be omitted from each underwater vehicle 2a, 2b, 2c, 2d according to the positioning method of the acoustic positioning device 7 provided in the underwater vehicle 1. It goes without saying that a configuration other than the transponders 9a, 9b, 9c, and 9d may be used to provide a device used for acoustic positioning.

Therefore, the control unit 5 uses the information on the absolute position of the watercraft 1 obtained by the self-position detecting device 6 and the position of the watercraft 1 obtained as the positioning result by the acoustic positioning device 7 as a reference. The absolute position of each underwater vehicle 2a, 2b, 2c, 2d can be detected based on the information on the relative position of each underwater vehicle 2a, 2b, 2c, 2d. The detection of the absolute position of each underwater vehicle 2a, 2b, 2c, 2d is performed every time the underwater vehicle 2a, 2b, 2c, 2d is acoustically positioned by the acoustic positioning device 7.

The processing executed by the control unit 5 for monitoring the underwater vehicles 2a, 2b, 2c, 2d in the watercraft 1 will be described later.

Although not shown, the navigation device 8 is composed of a propulsion device, a steering device, and their controllers. When a command regarding a target position is given from the control unit 5, the navigation device 8 moves to the instructed target position on the water according to the command. It has a function of performing propulsion and steering so that the navigation body 1 is arranged.

It should be noted that the running device 8 is also provided with information on the absolute position of the own body of the watercraft 1 obtained by the self-position detecting device 6 in real time.

As a result, in the running device 8, when the control unit 5 gives a command to set the current position of the watercraft 1 as the target position, the running device 8 makes the self-position detecting device 6 when the command is given. Propulsion and steering are performed so that the surface of the watercraft 1 detected by the reference is used as a reference and the surface of the watercraft 1 is kept at the reference position even if the watercraft 1 is subjected to disturbances such as wind, waves and tidal current. It has a control function.

On the other hand, when the navigation device 8 receives a command from the control unit 5 to set a target position at a position different from the current position of the watercraft 1, the watercraft 1 moves to the target position. It has the function of controlling propulsion and steering.

The underwater vehicles 2a, 2b, 2c, 2d are configured to include transponders 9a, 9b, 9c, 9d so that they can be acoustically positioned by the acoustic positioning device 7 of the underwater vehicle 1. Although not shown, each underwater vehicle 2a, 2b, 2c, 2d is a running area 10a as shown in FIG. 2, which is individually set for each underwater vehicle 2a, 2b, 2c, 2d. 10b, 10c, 10d is provided with a device configuration and functions capable of autonomous navigation. In this case, if each underwater vehicle 2a, 2b, 2c, 2d is capable of autonomous navigation in the corresponding traveling area, the control of the underwater vehicle 2a, 2b, 2c, 2d is controlled. , Waypoint control, or any other known control method may be used.

Next, the underwater vehicle monitoring method will be described in line with the description of the function of the control unit 5 of the underwater vehicle 1.

When the underwater vehicle 2a, 2b, 2c, 2d is monitored, the control unit 5 performs the first process shown in FIG. 3 and the second process shown in FIGS. 4 and 5.

In the first process, the control unit 5 monitors the acoustic positioning result of each underwater vehicle 2a, 2b, 2c, 2d obtained by the acoustic positioning device 7, as shown in FIG. 3 (step SA1).

Next, for the underwater vehicle 2a, 2b, 2c, 2d for which the positioning result has been obtained, the control unit 5 obtains the positioning result and the water surface obtained by the self-position detecting device 6 each time the positioning result is obtained. The absolute position of the underwater vehicle 2a, 2b, 2c, 2d is detected based on the information on the absolute position of the vehicle 1 of the vehicle 1 (step SA2).

Next, the control unit 5 obtains the absolute positions of the obtained underwater vehicles 2a, 2b, 2c, 2d for each of the underwater vehicles 2a, 2b, 2c, 2d, and the positioning result used to detect this absolute position. The information associated with the positioning time at which the positioning is performed is stored in a storage unit (not shown) (step SA3).

In the control unit 5, the information in which the absolute position of the underwater vehicle 2a, 2b, 2c, 2d stored in the storage unit in step SA3 is associated with the positioning time is the respective underwater vehicle 2a, 2b. , 2c, 2d, each time the positioning result by the acoustic positioning device 7 is obtained, the information corresponding to the new positioning time may be sequentially overwritten or may be accumulated.

As a result, when the underwater vehicle 2a, 2b, 2c, 2d becomes incapable of acoustic positioning, the control section 5 determines the acoustic positioning from the information stored in the storage section. It is possible to read the absolute position and the positioning time when the underwater vehicle 2a, 2b, 2c, 2d that has become impossible is finally positioned.

In the second process, as shown in FIG. 4, the control unit 5 first obtains the acoustic positioning results of the underwater vehicles 2a, 2b, 2c, 2d obtained by the acoustic positioning device 7 when the process is started. It is monitored (step SB1).

Next, the control unit 5 determines whether or not all underwater vehicles 2a, 2b, 2c, 2d can be positioned (step SB2).

Normally, when operating a plurality of underwater vehicles 2a, 2b, 2c, 2d, each underwater vehicle 2a, 2b, 2c, 2d can be positioned by the acoustic positioning device 7 of the underwater vehicle 1. The operation is started from the state. Therefore, when the control unit 5 first proceeds to step SB2, it determines that all underwater vehicles 2a, 2b, 2c, 2d can be positioned.

When it is determined in step SB2 that all underwater vehicles 2a, 2b, 2c, 2d can be positioned, the control unit 5 proceeds to step SB3.

In step SB3, the control unit 5 gives the marine vessel 8 a command to set the current position of the watercraft 1 to the target position.

As a result, in the watercraft 1, the propulsion and steering by the navigation device 8 are controlled so that the watercraft 1 holds the current position. Therefore, as shown in FIG. 2A, the underwater vehicle 1 maintains the current positional relationship capable of acoustic positioning with respect to all the underwater vehicles 2a, 2b, 2c, 2d.

After issuing the command to the marine vessel 8 in step SB3, the control unit 5 returns to step SB1 and executes the processing from step SB1 again. Therefore, when all the underwater vehicles 2a, 2b, 2c, 2d can be positioned by the acoustic positioning device 7, the control unit 5 sequentially repeats the processing loop from step SB1 to step SB3.

After that, as the plurality of underwater vehicles 2a, 2b, 2c, 2d autonomously travel in their respective running areas, the underwater vehicle among the underwater vehicles 2a, 2b, 2c, 2d. If some of the underwater vehicles 2a, 2b, 2c, and 2d come to be located outside the area where the acoustic positioning device 7 can perform acoustic positioning, acoustic positioning becomes impossible.

Therefore, in this case, the control unit 5 determines in step SB2 that some of the underwater vehicles 2a, 2b, 2c, 2d cannot be positioned. When this determination occurs, the control unit 5 proceeds to step SB4.

In step SB4, the control unit 5 determines whether or not there is one underwater vehicle 2a, 2b, 2c, 2d for which positioning is impossible.

When it is determined in step SB4 that there is only one underwater vehicle 2a, 2b, 2c, 2d for which positioning is impossible, the control unit 5 proceeds to step SB5.

In step SB5, the control unit 5 determines, from the storage unit, the underwater vehicles 2a, 2b, 2b, 2b, 2b, 2c, 2b, 2c, 2d, 2c, 2d, 2c, 2d, 2c, 2d, 2c, 2d, 2c, 2d, 2c, 2d, 2c, 2d, 2c, 2d, 2c, 2d, 2c, 2d, 2c, 2d whose acoustic positioning has been impossible. The absolute position when 2c and 2d are finally measured is read, and a command to set the absolute position as a target position is given to the marine vessel 8.

Specifically, as shown in FIG. 2(b), if acoustic positioning of the underwater vehicle 2b among the underwater vehicles 2a, 2b, 2c, 2d becomes impossible, The control unit 5 reads out the absolute position p when the underwater vehicle 2b was last positioned from the storage unit, and runs a command to set the position having the same latitude and longitude as the absolute position p as the target position. It is fed to the device 8 (see FIG. 1).

As a result, as shown in FIG. 2B, the watercraft 1 moves to a position directly above the absolute position p set as the target position. In this state, the acoustic positioning device 7 continuously performs the acoustic positioning process for the positioning targets of the underwater vehicles 2a, 2b, 2c, 2d at set time intervals.

The running speed of the underwater vehicles 2a, 2b, 2c, 2d is generally several kilometers per hour, although it depends on the type. On the other hand, the area where the sound wave emitted by the acoustic positioning device 7 reaches is generally about 2 to 4 kilometers in radius, depending on the type. Therefore, even after the acoustic positioning of the underwater vehicle 2b becomes impossible, the underwater vehicle 1 must move to a position directly above the position where the underwater vehicle 2b was last positioned. As a result, it is highly possible that the underwater vehicle 1 has a positional relationship capable of acoustic positioning with respect to the underwater vehicle 2b.

In this way, when the watercraft 1 comes into a positional relationship capable of acoustic positioning with respect to the underwater vehicle 2b, the acoustic positioning of the underwater vehicle 2b by the acoustic positioning device 7 is restarted.

After issuing a command to the marine vessel 8 in step SB5, the control unit 5 returns to step SB1 and executes the processing from step SB1 again.

In the control unit 5, the process of returning to step SB1 after step SB5 is performed even if the acoustic positioning of the underwater vehicle 2b is not restarted even when the water vehicle 1 moves to the target position. To do.

On the other hand, if it is determined in step SB4 that there are a plurality of underwater vehicles 2a, 2b, 2c, 2d for which acoustic positioning from the underwater vehicle 1 has become impossible, the control unit 5 The underwater vehicle search process SC is executed.

In the underwater vehicle search process SC, as shown in FIG. 5, when the control unit 5 starts the process, first, all of the plurality of underwater vehicles 2a, 2b, 2c, 2d for which acoustic positioning is impossible are performed. Is set as a search target (step SC1).

Next, the control unit 5 reads out the information stored in the storage unit and selects the underwater vehicle 2a, 2b, 2c, 2d whose search time is the oldest among the search targets (step SC2). ).

Next, the control unit 5 causes the underwater vehicle 2a, 2b, 2c, 2d whose acoustic positioning has become impossible from the storage unit, for the underwater vehicle 2a, 2b, 2c, 2d selected in step SC2. The absolute position at the time of the last positioning was read, and a command for setting the absolute position as the target position is given to the marine vessel 8 (step SC3).

As a result, as in the case of step SB5 described above, the watercraft 1 moves to the position set as the target position, and in this state, the acoustic positioning device 7 makes each underwater navigation at the set time interval. The acoustic positioning process in which the running bodies 2a, 2b, 2c, and 2d are positioned is continuously performed. This increases the possibility that the acoustic positioning of the underwater vehicle 2a, 2b, 2c, 2d selected in step SC2 will be restarted.

After that, the control unit 5 proceeds to step SC4. In step SC4, the control unit 5 determines whether or not the acoustic positioning of the underwater vehicle 2a, 2b, 2c, 2d selected in step SC2 has become possible.

When it is determined in step SC4 that the acoustic positioning of the underwater vehicle 2a, 2b, 2c, 2d selected in step SC2 has become possible, the control unit 5 proceeds to step SC5.

In step SC5, the control unit 5 determines whether or not the remaining number of the underwater vehicles 2a, 2b, 2c, 2d, which are the acoustic targets of the search and are not available, is one or less. I do.

If it is determined in step SC5 that the number of remaining underwater vehicles 2a, 2b, 2c, 2d for which acoustic positioning is not possible is one or less, the control unit 5 proceeds to step SC6. The midway vehicle search process SC is terminated.

On the other hand, if it is determined in step SC4 that acoustic positioning of the underwater vehicle 2a, 2b, 2c, 2d selected in step SC2 is still impossible, the control unit 5 proceeds to step SC7. move on. In step SC7, the control unit 5 performs a process of temporarily excluding the underwater vehicle 2a, 2b, 2c, 2d selected in step SC2 from which acoustic positioning remains impossible from the search target, and then step SC9. Go to.

When it is determined in step SC5 that the number of remaining underwater vehicles 2a, 2b, 2c, 2d for which acoustic positioning is impossible is plural, the control unit 5 proceeds to step SC8. move on. In step SC8, the control unit 5 performs a process of excluding the underwater vehicle 2a, 2b, 2c, 2d selected in step SC2 in which acoustic positioning is possible from the search target, and then proceeds to step SC9.

In step SC9, the control unit 5 determines whether or not the underwater vehicle 2a, 2b, 2c, 2d set as the search target remains.

When it is determined that the underwater vehicle 2a, 2b, 2c, 2d set as the search target in step SC9 remains, the control unit 5 returns to step SC2 and ends the remaining search targets. The one having the oldest positioning time is selected, and the process from step SC2 is performed again.

On the other hand, when it is determined that the underwater vehicle 2a, 2b, 2c, 2d set as the search target in step SC9 does not remain, the control unit 5 returns to step SC1 and the acoustic positioning is not performed at that time. After all of the enabled underwater vehicles 2a, 2b, 2c, 2d are set as search targets again, the processing from step SC1 is performed again.

When the underwater vehicle search process SC is completed in step SC6, the control unit 5 is configured to perform the processes in and after step SB1 as shown in FIG.

According to the underwater vehicle monitoring device and the underwater vehicle monitoring method of the present embodiment having the above-described configuration, the underwater vehicle 1 can perform acoustic positioning of all underwater vehicles 2a, 2b, 2c, 2d. In a possible state, the control unit 5 can detect the absolute position of each underwater vehicle 2a, 2b, 2c, 2d. Therefore, one underwater vehicle 1 can monitor a plurality of underwater vehicles 2a, 2b, 2c, 2d.

Further, in the case where an arrangement in which acoustic positioning is impossible occurs in each of the underwater vehicles 2a, 2b, 2c, 2d, the underwater vehicle 2a in which acoustic positioning cannot be performed at that time. , 2b, 2c, 2d are moved to a position above the last position measured. Therefore, it is possible to promptly restart the acoustic positioning of the underwater vehicle 2a, 2b, 2c, 2d for which the acoustic positioning is impossible.

Furthermore, if a plurality of underwater vehicles 2a, 2b, 2c, 2d are arranged such that acoustic positioning is impossible, the underwater vehicles 2a, 2b with the earliest positioning time are the earliest. , 2c, 2d are selected in order, and the watercraft 1 is moved to a position above the last position measured, so that the search is performed. It is possible to suppress the possibility that the time during which positioning cannot be continuously performed for the running vehicles 2a, 2b, 2c, 2d is extended.

Further, the underwater vehicle 2a, 2b, 2c, 2d whose positioning cannot be performed even if a search is performed is once excluded from the search target, and another positioning is impossible. Since the search for 2b, 2c, and 2d is performed, the search for one underwater vehicle 2a, 2b, 2c, and 2d is intensively performed, so that the other underwater vehicle 2a and 2b are searched. , 2c, 2d, it is possible to suppress the possibility that the time during which continuous positioning cannot be performed is extended.

The present invention is not limited to the above-described embodiment, and the shapes and dimensional ratios of the underwater vehicle 1 and the underwater vehicles 2a, 2b, 2c, 2d shown in FIGS. It is for convenience of illustration and does not reflect the actual shape or dimensional ratio.

Each underwater vehicle 2a, 2b, 2c, 2d may not have the same shape or the same function.

The number of underwater vehicles that perform acoustic positioning and are monitored by one watercraft 1 may be two, three, or five or more.

The layout and shape of the running areas 10a, 10b, 10c and 10d of the underwater vehicles 2a, 2b, 2c and 2d are not limited to those shown in FIGS. 2(a) and 2(b). Good. For example, the running area 10a. 10b, 10c, and 10d may be arranged at intervals. Further, for example, when the underwater vehicles 2a, 2b, 2c, 2d have different cruising depths, a part or all of the planar layout of the respective running areas 10a, 10b, 10c, 10d overlap. May be.

The control unit 5 in the watercraft 1 autonomously travels the watercraft 1 to a position above the navigation regions 10a, 10b, 10c, 10d of the underwater vehicles 2a, 2b, 2c, 2d. It may have a function of performing control.

In the above-described embodiment, the control unit 5 issues a command to set the absolute position when the underwater vehicle 2a, 2b, 2c, 2d, for which acoustic positioning is impossible, to the final positioning as the target position. Described as what to give. As an example of this application, the control unit 5 also uses the information on the traveling direction that was proceeding when the underwater vehicle 2a, 2b, 2c, 2d, for which acoustic positioning was impossible, was finally positioned. Then, the target position where the watercraft 1 moves may be determined.

In the control unit 5, the route information set for autonomously traveling the underwater vehicles 2a, 2b, 2c, 2d, for example, the route such as the waypoint information for performing the waypoint control. The information is stored and the route information of the underwater vehicle 2a, 2b, 2c, 2d whose acoustic positioning is impossible is also used to determine the target position to which the water vehicle 1 moves. May be.

Needless to say, various changes can be made without departing from the scope of the present invention.

1 watercraft, 2a, 2b, 2c, 2d underwater vehicle, 4 aircraft, 5 control units, 6 self-position detection device, 7 acoustic positioning device, 8 navigation device

Claims (4)

On the body of the watercraft,
A control unit,
A self-position detector,
An acoustic positioning device capable of acoustic positioning for a plurality of underwater vehicles,
And a navigation device,
The control unit, when an underwater vehicle in which acoustic positioning is impossible occurs among a plurality of underwater vehicles that perform acoustic positioning by the acoustic positioning device, the underwater vehicle in which acoustic positioning cannot be performed. An underwater vehicle monitoring device having a function of giving a command to a target position at a position above a position where a body is finally positioned. When a plurality of underwater vehicles that perform acoustic positioning by the acoustic positioning device are incapable of acoustic positioning, the control unit causes the underwater navigation with the earliest positioning time to be the earliest. The underwater navigation system according to claim 1, further comprising a function of sequentially setting a search target from the body and sequentially giving a command to the navigation device to set a target position to a position above the position where the search target is finally positioned. Vehicle monitoring device. Even if the watercraft moves to send a command to set a target position at a position above the position at which the search target is finally positioned, the control unit acoustically positions the search target. The underwater vehicle monitoring device according to claim 2, further comprising a function of temporarily excluding the search target from the search target when the above is not possible. When performing acoustic positioning of a plurality of underwater vehicles with the acoustic positioning device equipped on the body of a watercraft, if an underwater vehicle that cannot perform acoustic positioning occurs, the acoustic positioning becomes impossible. The underwater vehicle monitoring method is characterized in that the underwater vehicle is moved with the position above the position where the underwater vehicle was last measured as the target position.

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