JP6946865B2 - Navigation control device and navigation control method - Google Patents

Description

The present invention relates to a navigation control device and a navigation control method for a surface vehicle.

An unmanned underwater vehicle that autonomously navigates may be used for the purpose of investigating underwater (for example, underwater, in a lake, in a river, etc.) or underwater (for example, undersea, lakebed, riverbed, etc.). The underwater vehicle sails (dive) underwater along a predetermined route. Such an underwater vehicle is managed by a water vehicle that moves on the water. The surface navigation body grasps the position of the underwater navigation body by using acoustic positioning or the like. Further, by communicating with the water vehicle, the position of the water vehicle can be grasped in the water vehicle (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2009-227086

However, there is a limit to the range in which acoustic positioning by a surface vehicle is possible. Therefore, when the underwater vehicle is out of the acoustic positioning range of the water vehicle, the underwater vehicle cannot be captured by the acoustic positioning. In order for the surface vehicle to capture the underwater vehicle again, it is necessary to include the underwater vehicle in the range where acoustic positioning is possible. Further, when one water vehicle manages a plurality of underwater vehicles, it is conceivable that all of the plurality of water vehicles do not fall within the range in which acoustic positioning by the water vehicle is possible. In this case, it is necessary to move the underwater vehicle that is once out of the range where acoustic positioning is possible so that the underwater vehicle is included in the range where acoustic positioning is possible again.

The present invention has been made in view of the above, and an object of the present invention is to provide a navigation control device and a navigation control method capable of promptly capturing an underwater vehicle by acoustic positioning by a water vehicle. And.

In order to achieve the above object, the navigation control device according to one embodiment of the present invention is a navigation control device related to a water navigation body that manages the navigation of the underwater navigation body, and is a navigation control device of the underwater navigation body. The navigation schedule information, which is information related to the navigation route, is retained, the course of the water navigation body is determined based on the navigation schedule information, and the navigation of the water navigation body is controlled along the course. It has a navigation control unit and an acoustic positioning unit that measures the position of the underwater vehicle by acoustic positioning, and the navigation schedule information is the destination of the underwater vehicle on the navigation path. The position information indicating the positions of the plurality of points set as, the speed information relating to the moving speed of the underwater vehicle between the points, and the time information relating to the estimated arrival time of each of the plurality of points correspond to each other. It is the attached information, and the cruising control unit updates the time information of the cruising schedule information based on the acoustic positioning result by the acoustic positioning unit.

Further, the navigation control method according to one embodiment of the present invention is a navigation control method by a navigation control device for a water navigation body that manages the navigation of the underwater navigation body, and is a navigation control method of the underwater navigation body. Information related to the navigation route, that is, position information indicating the positions of a plurality of points set as destinations on the navigation route of the underwater vehicle, and information of the underwater vehicle between the points. The cruising schedule information in which the speed information related to the moving speed and the time information related to the scheduled arrival time of each of the plurality of points are associated with each other is held, and the course of the water vehicle is based on the cruising schedule information. A navigation control step that controls the navigation of the water vehicle along the course, an acoustic positioning step that measures the position of the underwater vehicle by acoustic positioning, and an acoustic in the acoustic positioning step. It has an update step for updating the time information of the cruising schedule information based on the positioning result.

According to the above-mentioned navigation control device and navigation control method, the course of the surface navigation body is determined based on the navigation schedule information related to the underwater navigation body. Therefore, it is possible to suitably capture the underwater vehicle by acoustic positioning by the water vehicle. In addition, the time information related to the estimated arrival time of each point of the scheduled navigation information is updated based on the acoustic positioning result related to the underwater vehicle. Therefore, the water vehicle can determine the course based on the navigation schedule information that more accurately reflects the navigation status of the underwater vehicle. Therefore, the underwater vehicle can be quickly captured.

Here, in the above-mentioned navigation control device, the navigation control unit determines the speed of the water-based navigation body based on the navigation schedule information, and the navigation of the water-based navigation body is also based on the speed. It can be an aspect of controlling running.

Further, in the above navigation control method, in the navigation control step, the speed of the water vehicle is determined based on the navigation schedule information, and the speed of the water vehicle is also based on the speed. Can be an aspect of controlling.

Like the above-mentioned navigation control device and navigation control method, the speed of the surface navigation body is determined based on the navigation schedule information, and the navigation of the water navigation body is controlled based on the speed. , It becomes possible to more appropriately control the surface vehicle to capture the underwater vehicle.

Here, the surface navigation body manages the navigation of the plurality of the underwater navigation bodies, the navigation schedule information is created for each of the plurality of underwater navigation bodies, and the navigation control unit is used. A specific underwater vehicle is selected from the plurality of underwater vehicles, the course of the water vehicle is determined based on the travel schedule information corresponding to the underwater vehicle, and the route is determined. It is repeated to control the navigation of the water vehicle along the line, and based on the acoustic positioning result of the specific underwater vehicle by the acoustic positioning unit, the said vehicle related to the specific underwater vehicle. The time information of the cruising schedule information can be updated.

As described above, when a water vehicle manages the navigation of a plurality of underwater vehicles, it retains the navigation schedule information related to each underwater vehicle and sails on the water based on the navigation schedule information. By repeating determining the course of the running body, it is possible to quickly capture each of the plurality of underwater running bodies. In addition, based on the acoustic positioning result related to the specific underwater vehicle, the time information related to the estimated time of arrival of each point of the scheduled information related to the specific underwater vehicle is updated, so that a plurality of waters can be used. The capture of the medium-sized vehicle can be performed more quickly.

Further, when the acoustic positioning unit cannot perform the acoustic positioning of the underwater vehicle, the navigation control unit may perform the navigation schedule information until the acoustic positioning of the underwater vehicle becomes possible. The mode may be such that the navigation of the water navigation body is controlled so as to search for the underwater vehicle along the navigation path shown in the above.

As described above, when acoustic positioning related to the underwater vehicle is not possible, the underwater vehicle can be searched for some reason along the navigation route shown in the estimated time information. Even if the body is moving at a speed that does not allow it to arrive at each estimated time of arrival at each point of the scheduled navigation information, the possibility of re-capturing the underwater vehicle is increased.

According to the present invention, there is provided a navigation control device and a navigation control method capable of promptly capturing an underwater vehicle by acoustic positioning by the water vehicle.

It is a schematic diagram about the navigation management system of the underwater vehicle including the water vehicle equipped with the water vehicle control device according to this embodiment. It is a functional block diagram relating to the transmission and reception of information between a surface vehicle and an underwater vehicle. It is a figure which shows the range which can communicate with the acoustic communication device mounted on the surface navigation body, and the range which can be positioned by the acoustic positioning machine 16. An operation example when four underwater vehicles 20A to 20D are operated at the same time is shown. It is a figure which shows the navigation schedule information D1 which concerns on the underwater vehicle which is one of the underwater vehicle. It is a figure explaining the correspondence between the movement of an underwater vehicle and the navigation schedule information. It is a flow chart which shows the control method of navigation by a navigation control device.

Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the accompanying drawings. In the description of the drawings, the same elements are designated by the same reference numerals, and duplicate description will be omitted.

FIG. 1 is a schematic view of a navigation management system 1 of an underwater vehicle including a water vehicle equipped with a navigation control device according to the present embodiment. Further, FIG. 2 is a functional block diagram relating to transmission / reception of information between the surface navigation body and the underwater navigation body.

The navigation management system 1 shown in FIG. 1 includes a surface vehicle 10 (Autonomous Surface Vehicle: ASV) and at least one underwater vehicle 20 (Autonomous Underwater Vehicle: AUV). In the present embodiment, as shown in FIG. 1, as one surface navigation body 10 and a plurality of underwater navigation bodies 20, for example, four underwater navigation bodies 20A, 20B, 20C, 20D are managed. An example of the case will be described.

The surface navigation body 10 is a navigation body that autonomously navigates on the water, and has a function of managing the underwater navigation body 20. Therefore, the surface navigation body 10 has a function of positioning the position of the underwater navigation body 20 and a function of transmitting and receiving information from the underwater navigation body 20. The surface navigation body 10 includes an airframe 11, a navigation device 12, and a navigation control device 13. Further, the navigation control device 13 includes a positioning device 14, an acoustic communication device 15, an acoustic positioning device 16 (acoustic positioning unit), and a controller 17 (navigation control unit).

The aircraft 11 is equipped with a navigation device 12 and a navigation control device 13. The navigation device 12 is configured to navigate (navigate) the aircraft 11 on the water. The navigation device 12 includes, for example, a propulsion device and a rudder propulsion mechanism. The navigation device 12 operates based on an instruction from the controller 17 of the navigation control device 13.

The navigation device 12 includes an actuator 12A (see FIG. 2) including a propulsion device and a steering device and their controllers (not shown), and when a command regarding a target position is given from the controller 17, the navigation device 12 gives an instruction according to the command. It has a function of propulsion and steering so as to arrange the surface navigation body 10 at the set target position. Further, the navigation device 12 includes a sensor 12B (see FIG. 2) that detects the posture of the own device, and has a function of providing information related to the posture of the own device to the controller 17. The controller 17 gives commands related to propulsion and steering to the actuator 12A based on the information related to the attitude of the own machine and the like.

It should be noted that the navigation device 12 is also provided with information on the absolute position of its own machine of the surface navigation body 10 obtained by the positioning device 14 described later in real time. As a result, in the navigation device 12, when the controller 17 gives a command to set the current position of the surface navigation body 10 as the target position, the position of the surface navigation body 10 detected by the positioning device 14 is used as a reference. It has a function of controlling propulsion and steering so that the surface navigation body 10 stays at a reference position even if it receives a disturbance due to wind, waves, tidal currents, or the like.

Further, when the controller 17 gives a command from the controller 17 to set a position different from the current position of the surface navigation body 10 as a target position, the navigation device 12 is propelled so that the surface navigation body 10 moves to the target position. It has a function to control steering.

The navigation control device 13 acquires the position information of the underwater vehicle 20 by using acoustic positioning described later, and also communicates with the underwater vehicle 20 to acquire the information acquired by the underwater vehicle 20. Etc. have a function of receiving.

The positioning device 14 of the navigation control device 13 is configured to acquire the absolute position (latitude, longitude, altitude) of the surface navigation body 10 on the earth. The positioning device 14 is, for example, a GPS receiver. The positioning device 14 may receive a predetermined signal from a GPS satellite and acquire an absolute position based on the signal. Of course, the positioning device 14 may use a navigation satellite system other than GPS or a signal from a ground station as long as it can detect the position of its own aircraft of the surface navigation body 10. be.

The acoustic communication device 15 of the navigation control device 13 is provided on the bottom of the ship, which is a submerged portion of the aircraft 11, and transmits / receives information by acoustic communication to and from the acoustic communication device 23 described later in the underwater navigation body 20. Is configured to be possible. The acoustic communication device 15 may be, for example, a transmitter / receiver (transceiver) including a transmitter for transmitting sound waves in water and a receiver for receiving sound waves (reflected waves). The communicable range of the acoustic communication device 15 can be, for example, about 200 m to 1000 m. The acoustic communication device 15 transmits a command (command) related to information to be transmitted / received to the underwater vehicle 20 based on a command from the controller 17. As a result, when the acoustic communication device 15 receives the information (status) transmitted from the underwater vehicle 20, the result is transmitted to the controller 17.

The acoustic positioning device 16 of the navigation control device 13 is provided on the bottom of the ship, which is a submerged portion of the body 11, and is configured to be able to acquire the position of the underwater navigation body 20. The acoustic positioning device 16 may be configured to be able to acquire, for example, the relative position of the underwater vehicle 20 with respect to the water vehicle 10. The acoustic positioning machine 16 can be, for example, an SSBL (Super Short Base Line) positioning system. The SSBL positioning system can measure the relative position of the underwater vehicle 20 by periodically transmitting a pulse sound into the water and receiving the reply echo of the pulse sound with at least three acoustic sensors. Is. The range that can be positioned by the acoustic positioning device 16 may be, for example, about 1.5 to 20 times the range that can be communicated by the acoustic communication device 15, or about 300 m to 6000 m. The acoustic positioning machine 16 may use any type and positioning method of the acoustic positioning machine 16 as long as it can detect the position of each underwater vehicle 20 to be monitored. Information related to the position (relative position) of the underwater vehicle, which is the positioning result detected by the acoustic positioning device 16, is sent to the controller 17. Further, there is a system in which the positioning device 14 and the acoustic positioning device 16 are integrated and the absolute position is directly output. In that case, the information related to the absolute position of each underwater vehicle 20 is sent to the controller 17.

FIG. 3 schematically shows a range R1 that can be communicated by the acoustic communication device 15 mounted on the surface navigation body 10 and a range R2 that can be positioned by the acoustic positioning device 16. As shown in FIG. 3, the communicable range R1 by the acoustic communication device 15 is very small as compared with the positioning range R2 by the acoustic positioning device 16. Therefore, in order for the water vehicle 10 to perform acoustic communication with the water vehicle 20, the water vehicle 10 needs to move so that the target water vehicle 20 is within the range R1. .. In the present embodiment, the underwater vehicle 20 is present in the range R2 where the water vehicle 10 can perform acoustic positioning, that is, the water vehicle 10 acoustically positions the underwater vehicle 20. The possible state is referred to as a state in which the surface navigation body 10 is capturing the underwater navigation body 20. When the surface navigation body 10 captures the underwater navigation body 20, it means that the acoustic positioning of the underwater navigation body 20 changes from an impossible state to a possible state.

The controller 17 of the navigation control device 13 is configured to be able to partially or wholly control the surface navigation body 10. The hardware of the controller 17 is composed of, for example, one or a plurality of control computers. Hardware includes a CPU (Central Processing Unit), RAM (Random Access Memory) and ROM (Read Only Memory), which are main storage devices, a communication module that communicates with other devices, and an auxiliary storage device such as a hard disk. It is configured as a computer with the above hardware. Then, by operating these components, the function as the controller 17, which will be described later, is exhibited.

In the controller 17, each underwater navigation is based on the information on the absolute position of the water vehicle 10 obtained by the positioning device 14 and the position of the water vehicle 10 obtained as the positioning result by the acoustic positioning device 16. The absolute position of each underwater vehicle 20 (20A, 20B, 20C, 20D) can be detected based on the information on the relative position of the body 20. The detection of the absolute position of each of the underwater vehicles 20A to 20D is performed every time the acoustic positioning device 16 performs acoustic positioning of each of the underwater vehicles 20A to 20D. Further, the controller 17 has a function of controlling the surface navigation body 10 so as to track each underwater navigation body 20 in order to perform acoustic communication with each underwater navigation body 20. The controller 17 holds the navigation schedule information D1 (see FIG. 5) related to each of the underwater vehicles 20 in order to track each of the underwater vehicles 20. Further, the controller 17 has a function of updating the navigation schedule information D1 related to the underwater vehicle 20 based on the acoustic positioning result. The tracking of the underwater vehicle 20 using the navigation schedule information D1 by the controller 17 will be described later.

When the information or the like acquired by the surface navigation body 10 is managed by a device different from that of the surface navigation body 10 (for example, a mother ship or the like), or when the surface navigation body 10 is controlled by an external device or the like. When communication with an external device is required, the surface navigation body 10 includes a communication device. The communication device provided in the surface navigation body 10 is capable of transmitting and receiving information to and from an external device. The communication device can be realized as, for example, a wireless communication device capable of transmitting and receiving electromagnetic waves, sound waves, and the like.

Next, the underwater vehicle 20 is an unmanned vehicle that autonomously navigates underwater, and has a function of performing some operation underwater or at the bottom of the water while traveling along a predetermined route. Therefore, the underwater vehicle 20 includes a hull 21, a navigation device 22, an acoustic communication device 23, a response device 24, and a controller 25, as shown in FIGS. 1 and 2. In addition, the underwater vehicle 20 may be provided with a device for performing a predetermined work. For example, when the underwater vehicle 20 collects information on underwater or the bottom of the water, it may be provided with, for example, a side scan sonar, a magnetic sensor, a temperature sensor, a pollutant detection device, and the like.

The hull 21 is equipped with a navigation device 22, an acoustic communication device 23, a response device 24, and a controller 25.

The navigation device 22 is configured to allow the hull 21 to navigate (dive) underwater. The navigation device 22 includes, for example, a propulsion device and a rudder. The navigation route by the navigation device 22, that is, the movement route of the underwater vehicle 20, is predetermined. Therefore, the underwater navigation body 20 moves along a movement path predetermined by the navigation device 22 while acquiring the inertial navigation position by the inertial navigation device (not shown) mounted on the hull 21.

The navigation device 22 includes an actuator 22A (see FIG. 2) including a propulsion device and a steering device and their controllers (not shown), and when a command regarding a target position is given from the controller 25, the navigation device 22 gives an instruction according to the command. It has a function of propulsion and steering so as to arrange the underwater vehicle 20 at the set target position. Further, the navigation device 22 includes a sensor 22B (see FIG. 2) that detects the posture and the like of the own device, and has a function of providing information related to the posture and the like of the own device to the controller 25. The controller 25 gives a command related to propulsion and steering to the actuator 22A based on the information related to the attitude of the own machine and the like.

The acoustic communication device 23 is configured to be capable of transmitting and receiving information by acoustic communication with the acoustic communication device 15 of the surface navigation body 10. The configuration of the acoustic communication device 23 may be the same as that of the acoustic communication device 15. When the acoustic communication device 23 receives a command (command) related to the information to be transmitted / received transmitted from the surface navigation body 10, the acoustic communication device 23 notifies the controller 25. Then, the acoustic communication device 15 transmits information (status) corresponding to the command to the surface navigation body 10 based on the instruction from the controller 25.

The response device 24 is configured to be able to instantly reply to a pulse sound transmitted from the acoustic positioning device 16 of the surface navigation body 10. The responder 24 is, for example, a transponder. The type of the response device 24 provided in each underwater vehicle 20 is changed according to the positioning method of the acoustic positioning device 16 provided in the water vehicle 10. Further, if the responder 24 is unnecessary, it may be omitted.

The controller 25 is configured to be able to control the underwater vehicle 20 partially or wholly. The controller 25 may control various devices (for example, the navigation device 22, the acoustic communication device 23, the response device 24) of the underwater vehicle 20. The configuration of the controller 25 may be the same as that of the controller 17 of the surface navigation body 10. The controller 25 holds the navigation information D2 (see FIG. 5) related to the navigation of the own aircraft. The cruising information D2 is information related to the moving direction, moving speed, and the like of the own aircraft. The cruising information D2 corresponds to the cruising schedule information D1 held in the surface navigation body 10. Each underwater vehicle 20 holds navigation information D2 related to its own aircraft, and the controller 25 decides to issue a command related to navigation to the navigation device 22 based on the navigation information D2. Become.

In the present embodiment, when four underwater navigation bodies 20A to 20D are operated in the navigation management system 1, the navigation control device 13 of the water navigation body 10 is all the underwater navigation bodies 20A to 20D. The method of managing the navigation of the vehicle will be explained.

FIG. 4 shows an operation example when four underwater vehicles 20A to 20D are operated at the same time. In the example shown in FIG. 4, the underwater vehicles 20A to 20D are moving within the predetermined target areas A1 to A4, respectively.

The surface navigation body 10 obtains the information acquired by each of the underwater navigation bodies 20A to 20D by performing acoustic communication with each of the underwater navigation bodies 20A to 20D. Further, the water navigation body 10 is calculated based on the acoustic positioning result between each of the underwater navigation bodies 20A to 20D and the positioning result by the positioning machine 14 of the own machine by performing acoustic communication. Information on the absolute positions of the underwater vehicles 20A to 20D is provided for each of the underwater vehicles 20A to 20D. However, as shown in FIG. 3, the range R1 capable of acoustic communication is smaller than the range R2 capable of acoustic positioning. Therefore, it is necessary for the water vehicle 10 to grasp the position of the underwater vehicle 20 to be communicated by acoustic positioning and then move to a position where the water vehicle 20 is included in the range R1 based on the information. be. Therefore, it is preferable that the surface navigation body 10 continues in a state in which acoustic positioning is possible with the underwater navigation body 20, that is, a state in which the underwater navigation body 20 is captured.

However, as shown in the present embodiment, when the surface navigation body 10 manages a plurality of underwater navigation bodies 20A to 20D, all of the plurality of management target underwater navigation bodies 20A to 20D can be acoustically positioned. It may not be possible to maintain the state included in the range R2. For example, FIG. 4 shows a state in which the water navigation body 10 stays in the center of the areas A1 to A4, but the water navigation body 10 is a specific underwater navigation body among the underwater navigation bodies 20A to 20D. When moving to the area where the communication is possible, it is considered that some of the underwater vehicles 20A to 20D are out of the range R2 where acoustic positioning is possible. If the underwater vehicle 20 moves out of the range where acoustic positioning is possible with the water vehicle 10, it is difficult for the water vehicle 10 to capture the water vehicle 20 again. There is a possibility of becoming. Further, even when the water navigation body 10 manages one underwater navigation body 20, the underwater navigation body 20 is supposed to run due to obstacle avoidance or the like at a timing when acoustic positioning is not performed. It is conceivable that the underwater vehicle 20 will be out of the range R2 where acoustic positioning is possible at the timing of the next acoustic positioning if the navigation is different from the above.

Therefore, in the navigation management system 1 of the present embodiment, the navigation of the underwater vehicle 20 (underwater vehicle 20A to 20D in the present embodiment) to be managed by the navigation control device 13 of the water vehicle 10. The schedule information D1 is retained, and the underwater vehicle 20 is tracked based on the cruising schedule information D1. Further, the navigation schedule information D1 is updated based on the result of the acoustic positioning related to the underwater vehicle 20, and the underwater vehicle 20 is tracked based on the latest navigation schedule information D1. Hereinafter, the above configuration will be specifically described.

FIG. 5 is a diagram showing navigation schedule information D1 relating to the underwater navigation body 20A, which is one of the plurality of underwater navigation bodies 20. As shown in FIG. 5, the navigation schedule information D1 sets a plurality of destination points (waypoints) on the navigation route on which the underwater vehicle 20A moves, and sets the position of each point for each point. Information indicating the speed (movement speed between points) of the underwater vehicle 20A from the previous point to the point with respect to the point coordinates (for example, latitude, longitude, depth, etc.) corresponding to the indicated position information. (Speed information) is associated with it. In the example shown in FIG. 5, the point coordinate P ₀ is information indicating the position of the navigation start point of the underwater vehicle 20A, and the speed V _{1 is in the order of the point coordinates P 1} , P ₂ , P _{3, ...} , V ₂ , V ₃ , ..., The underwater vehicle 20 is set to move.

Further, information related to the elapsed time (time information related to the estimated time of arrival at each point in the scheduled cruising information D1) is associated with each point coordinate. The elapsed time indicates the scheduled time (elapsed time from the sailing start point) at which the underwater vehicle 20A arrives at each point, which is derived from the point coordinates and the moving speed between the points. Further, the elapsed time can be obtained from the distance between the points calculated from the point coordinates included in the cruising schedule information D1 and the moving speed between the points included in the cruising schedule information D1. For example, the elapsed time _{t 1} to the point coordinates _{P 1} can be calculated by dividing the velocity _{V 1} of the time of movement between points _P 0 -P ₁ the distance between the point coordinates _P 0 -P _1. Further, the elapsed time _{t 2} to the point coordinates _{P 2,} by adding the result obtained by dividing by the speed _{V 2} at the time of movement between points _P 1 -P ₂ the distance between the point coordinates _P 1 -P ₂ to _{t 1} Can be calculated. The time information related to the estimated time of arrival at each point in the cruising schedule information D1 may be displayed as the time instead of the elapsed time from the cruising start point.

The navigation information D2 held by the underwater vehicle 20A includes point coordinates (for example, latitude / longitude, etc.) indicating the position of each point in the navigation schedule information D1 shown in FIG. This is information in which the moving speed (moving speed between points) of the underwater vehicle 20A from one point to the next point is set. That is, the underwater vehicle 20A is navigating toward each point based on the point coordinates and the navigation information D2 in which the moving speed between the points is specified. On the other hand, the surface navigation body 10 has a function of holding the navigation schedule information D1 including the elapsed time and estimating the current position of the underwater navigation body 20A. Then, when the surface navigation body 10 tracks the underwater navigation body 20A, the current position of the underwater navigation body 20A is predicted and tracked based on the navigation schedule information D1. By grasping the cruising schedule information D1, even if the underwater cruising body 20A is out of the range R2 where the surface cruising body 10 can acoustically position, based on the cruising schedule information D1. The current position of the underwater vehicle 20A can be predicted, and the controller 17 calculates the course that the water vehicle 10 should take in order to perform acoustic communication with the underwater vehicle 20A. It becomes possible. Therefore, the underwater vehicle 20A can be suitably captured by the water vehicle 10.

FIG. 6 is a diagram illustrating the movement of the underwater vehicle 20A along the navigation schedule information D1. It is assumed that the underwater vehicle 20A starts the point coordinate P ₀ , which is the navigation start point, with an elapsed time of 0. In this case, underwater vehicles 20A arrives at the elapsed time _{t 1} to the point coordinates _{P 1} by moving between points coordinates _P 0 -P ₁ at a speed _{V 1,} the speed between points coordinates _P 1 -P ₂ By _{moving at V 2} , it arrives at the point coordinate P ₂ at the elapsed time t ₂ , and so on, and moves between the points specified by the point coordinates. Since the moving speed between the point coordinates is set to be constant, the position of the underwater vehicle 20A corresponding to the elapsed time between the point coordinates can be estimated by the controller 17. Therefore, for example, assuming that the position where the surface navigation body 10 last acoustically positioned the underwater navigation body 20A _{is the location specified by the coordinates P x in} FIG. 6 and the positioning time is the time t _x , the time t estimated position of the underwater vehicle 20A from _x at predetermined time elapsed time t _y is estimated to be a place determined with the coordinates P _y from cruising schedule information D1. That is, when the water Kohashikarada 10 captures an underwater vehicle 20A at time t _y, underwater vehicle 20A is estimated to cruising between coordinates P _x and the coordinate P _y be able to. In this way _{, the surface navigation body 10 moves so that the distance between the coordinates P x} and the coordinates P _y falls within the range R2 that can be acoustically positioned, so that the possibility of capturing the underwater navigation body 20A is increased. .. If it takes time to move the underwater navigation body 20A of the water navigation body 10 to the position where it is estimated that the water navigation body 20A is sailing, the destination of the water navigation body 10 is determined in consideration of the required time. It may be a structure to decide.

Further, the cruising schedule information D1 includes the elapsed time of the point coordinates in association with the point coordinates, and the information related to this elapsed time is that the surface navigation body 10 relates to the underwater navigation body 20A. It is updated in the controller 17 of the navigation control device 13 when the acoustic positioning is performed.

Age of sailing schedule information D1 is initially is set based on the underwater vehicle 20A cruising start time from the point coordinates P ₀ is cruising starting point. However, during navigation, the course of the underwater vehicle 20A may be bent due to, for example, the topography of the bottom of the water, or it may take time to avoid obstacles. In this case, the underwater vehicle 20A cannot move at the scheduled speed, and the arrival time at the next point is delayed. Therefore, the controller 17 of the water navigation body 10 updates the navigation schedule information D1 based on the acoustic positioning result related to the underwater navigation body 20A. Specifically, for example, result water Kohashikarada 10 between points coordinates P ₂ -P ₃ makes a sound positioning of underwater vehicles 20A and based on the positioning time, as shown in FIGS. 5 and 6 , and it updates the elapsed time _t 3 ~t ₅ corresponding to the point coordinates _P 3 to P ₅ to _{t 3} '~t _5'. With such a configuration, the updated navigation schedule information D1 is more in line with the actual movement of the underwater vehicle 20A than before the update. Therefore, the underwater vehicle 20A by the water vehicle 10 It is considered that the capture of the water can be performed more quickly.

The water navigation body 10 compares the acoustic positioning result of the underwater navigation body 20A with the navigation schedule information D1 and compares the elapsed time of the underwater navigation body 20A in the navigation schedule information D1 with the actual underwater navigation. If there is a difference from the time required for the movement of the running body 20A, the cruising schedule information D1 may be updated.

A method of controlling navigation by the navigation control device 13 of the surface navigation body 10 in the navigation management system 1 will be described with reference to FIG. 7. First, the navigation control device 13 targets a specific underwater vehicle among the plurality of underwater vehicles 20 and tracks the specific underwater vehicle 20 based on the travel schedule information D1 of the underwater vehicle 20, and acoustically. Positioning is performed (S01: navigation control step, acoustic positioning step). Here, a case where the specific underwater vehicle 20 is the underwater vehicle 20A will be described. Specifically, the controller 17 of the navigation control device 13 instructs the navigation device 12 to move to the destination based on the navigation schedule information D1 related to the underwater vehicle 20A. When the controller 17 of the navigation control device 13 determines the course of the surface navigation body 10, the point indicated in the navigation schedule information D1 may be set as the destination, or a specific point between the points (for example, for example). The destination may be a midpoint between points), or the method described in Japanese Patent Application No. 2016-054324, or an extension thereof, assuming that the underwater vehicle 20 moves based on the navigation schedule information D1. The predicted circle may be expanded with respect to time to find an intersection, and this intersection may be used as the destination. The destination of the surface navigation body 10 is determined in consideration of the navigation ability (movement speed) of the water navigation body 10 and the like. Further, when the surface navigation body 10 arrives at the destination, acoustic positioning is performed by the acoustic positioning machine 16 based on the instruction from the controller 17.

Next, based on the result of acoustic positioning, is the controller 17 able to capture the underwater vehicle 20A based on whether the acoustic positioning result related to the underwater vehicle 20A to be tracked is obtained (underwater navigation)? Whether the position information of the running body 20A can be grasped) is determined (S02). Here, when the acoustic positioning result relating to the underwater vehicle 20A is not obtained (S02-NO), the water vehicle 10 uses the navigation schedule information D1 according to the instruction of the navigation control device 13. Then, the underwater vehicle 20A may be searched for (S03). When searching for the underwater navigation body 20A, for example, by moving the water navigation body 10 along the navigation path of the underwater navigation body 20A shown in the navigation schedule information D1, the underwater navigation body 20A is searched for. You can search. Basically, the underwater vehicle 20A moves on the navigation route specified in the navigation schedule information D1, so by searching for the underwater vehicle 20A along the navigation schedule information D1, the underwater vehicle 20A is searched. 20A can be captured quickly. The "search for the underwater navigation body 20A by moving along the navigation path" does not necessarily mean that the water navigation body 10 does not necessarily follow the navigation path of the underwater navigation body 20A accurately. If the navigation path (and the region considering the assumed error) of the underwater navigation body 20A is included in the range R2 where the acoustic positioning by the water navigation body 10 is possible, for example, the water navigation body 10 Shortcuts of the navigation route may be performed.

If the underwater vehicle 20A cannot be captured even if the underwater vehicle 20A is searched along the navigation route of the underwater vehicle 20A shown in the navigation schedule information D1, acoustic positioning cannot be performed for some reason. It is conceivable that As for the possibility of such a state, there is a possibility that the underwater vehicle 20A deviates significantly from the assumed navigation route, and a problem occurs in the acoustic positioning by the acoustic positioning machine 16 of the water vehicle 10. It is possible that the accuracy of acoustic positioning is significantly reduced (positioning is difficult) due to the seawater temperature distribution or the like. In such a case, the controller 17 of the navigation control device 13 issues an error or the like to notify the manager or the like of the surface navigation body 10 that the normal processing cannot be performed.

On the other hand, when the acoustic positioning result relating to the underwater vehicle 20A is obtained (S02-YES), the controller 17 provides the navigation schedule information D1 relating to the underwater vehicle 20A based on the acoustic positioning result. Update (S04: update step). As described above, the cruising schedule information D1 may be updated every time the acoustic positioning device 16 performs acoustic positioning, but for example, it may be updated every predetermined number of times. Further, when the difference between the planned position of the underwater vehicle 20A obtained from the navigation schedule information D1 and the actual position of the actual underwater navigation body 20A becomes a certain value or more, the navigation schedule information D1 is updated. It may be configured. After that, the target is changed to the next underwater vehicle to be captured (S05), and a series of processes are repeated.

In fact, when the acoustic positioning result for the underwater vehicle 20A is obtained (S02-YES), the water vehicle 10 moves as necessary for acoustic communication. , The acoustic communication may be performed between the water navigation body 10 and the underwater navigation body 20A. When the acoustic communication is performed, the order of the series of processes related to the acoustic communication and the process related to the update of the cruising schedule information D1 (S04) is not particularly limited. A known method can be used for the control by the controller 17 related to the movement of the water vehicle 10 for performing acoustic communication.

As described above, according to the navigation control device 13 according to the present embodiment and the navigation control method by the navigation control device 13, the water navigation body is based on the navigation schedule information related to the underwater navigation body 20. Ten paths are determined. Therefore, it is possible to suitably capture the underwater vehicle 20 by acoustic positioning by the water vehicle 10. Further, based on the acoustic positioning result of the underwater vehicle 20, the time information related to the estimated arrival time of each point of the scheduled navigation information is updated. Therefore, the course of the surface navigation body 10 is determined based on the navigation schedule information that more accurately reflects the navigation status of the underwater navigation body 20. Therefore, the underwater vehicle 20 can be quickly captured.

Conventionally, when the water navigation body 10 manages the underwater navigation body 20, the water navigation body 10 is a water navigation body so that the underwater navigation body 20 exists in a range capable of acoustic positioning by its own machine. I'm tracking 20. However, when the underwater vehicle 20 is out of the range where the acoustic positioning of the water vehicle 10 is possible for some reason, the method of capturing the underwater vehicle 20 again has not been studied much. It has been considered to predict the course of the underwater vehicle 20 and determine the course of the water vehicle 10, but as shown in FIG. 6, the path of the underwater vehicle 20 is one. In many cases, it is not the direction, and it is thought that there are many cases where the prediction is incorrect.

On the other hand, according to the navigation control device 13 according to the present embodiment and the navigation control method by the navigation control device 13, the underwater navigation uses the navigation schedule information related to the underwater vehicle 20. Since the body 20 is tracked, the underwater vehicle 20 can be quickly captured by the water vehicle 10. Further, since the surface navigation body 10 updates the navigation schedule information based on the acoustic positioning result and tracks using the navigation schedule information, the prediction accuracy of the course of the underwater vehicle 20 is improved. Therefore, it becomes possible to capture the underwater vehicle 20 more quickly.

Further, as described in the above embodiment, when the surface navigation body 10 manages the navigation of the plurality of underwater navigation bodies 20, the navigation schedule information related to each underwater navigation body 20 is individually created. It is held in the surface navigation body 10. Then, the course of the surface cruising body 10 is repeatedly determined based on the cruising schedule information. Therefore, the surface navigation body 10 can suitably capture each of the plurality of underwater navigation bodies 20. Further, based on the acoustic positioning results of each of the plurality of underwater vehicles 20, the time information of the scheduled arrival times of each of the points of the navigation schedule information of the specific underwater vehicle corresponding to the acoustic positioning results is updated. Therefore, the underwater vehicle 20 can be tracked based on the updated navigation schedule information, and the underwater vehicle 20 can be quickly captured.

Further, in the navigation control device 13 of the above embodiment, when the acoustic positioning related to the underwater navigation body 20 is impossible, the water navigation body 10 waters along the navigation route indicated in the navigation schedule information. It is configured to control the search for the middle navigating body 20. Therefore, even if the underwater vehicle 20 is moving at a speed at which it cannot arrive at each estimated time of arrival at each point of the scheduled navigation information for some reason, the water vehicle 10 re-executes the underwater vehicle 20. Increased likelihood of capture.

Although the embodiment according to the present invention has been described above, the present invention is not limited to the above embodiment. For example, in the above embodiment, the case where the surface navigation body 10 operates a plurality of underwater navigation bodies 20 has been described, but even if the target underwater navigation body 20 is one, it relates to the present embodiment. The navigation control device 13 can be applied.

Further, in the above embodiment, the case where all the functions related to the navigation control device 13 are mounted on the surface navigation body 10 has been described, but the functions related to the navigation control device 13 include the surface navigation body 10 and others. It may be distributed and arranged in the device of. For example, the process related to the course determination of the water vehicle 10 based on the position information of the water vehicle 20 can be communicated with another device (for example, the water vehicle 10) without performing the process on the water vehicle 10. It may be configured to be performed on a mother ship, etc.).

Further, the method for determining the course of the surface navigation body 10 based on the navigation schedule information of the plurality of underwater navigation bodies 20 is not limited to that described in FIG. For example, if the specific underwater vehicle 20 cannot be captured (S02-NO) only once, the search for the underwater vehicle 20 (S03) is omitted and the target is changed to the next capture target (S05). You may. Further, for example, when the situation in which the specific underwater vehicle 20 cannot be captured (S02-NO) continues, the search for the underwater vehicle 20 (S03) may be performed. Further, the acquisition order of the plurality of underwater vehicles 20 may be changed in consideration of the distance between the plurality of underwater vehicles 20 and the like. In this way, when a plurality of underwater vehicles 20 are managed by one water vehicle 10, the specific procedure thereof can be appropriately changed.

Further, in the above embodiment, the case where the navigation control device 13 controls only the course of the surface navigation body 10 has been described, but the speed of the surface navigation body 10 may also be controlled based on the navigation schedule information. good. That is, in the controller 17 that functions as a navigation control unit, the speed of the surface navigation body 10 is determined based on the navigation schedule information, and the navigation of the water navigation body 10 is controlled based on the speed. May be good. When the underwater vehicle 20 is captured while controlling not only the course of the water vehicle 10 but also the speed based on the route schedule information of the underwater vehicle 20, the underwater vehicle 20 can be captured more. It will be possible to do it properly. For example, in a state where the water navigation body 10 can capture the underwater navigation body 20 (particularly, a state in which acoustic communication is possible), even if the speed of the water navigation body 10 is controlled to be 0. good. Further, in the state where the underwater vehicle 20 can be captured, the speed of the water vehicle 10 may be adjusted to match the speed of the underwater vehicle 20 or may be controlled to be slightly faster than the underwater vehicle 20. good. Further, when the surface navigation body 10 is moved in a state where the underwater navigation body 20 cannot be captured, the target speed of the underwater navigation body 20 is maximized, and the movement to capture the underwater navigation body 20 is accelerated. Control may be performed. As described above, if the navigation control device 13 is configured to control not only the course of the surface navigation body 10 but also the speed, it is possible to more preferably capture the underwater navigation body 20. Further, depending on the method of controlling the surface navigation body 10, the cruising range of the surface navigation body 10 can be lengthened.

1 Navigation management system 10 Water navigation 11 Aircraft 12 Navigation device 13 Navigation control device 14 Positioning machine 15 Acoustic communication device 16 Acoustic positioning device 17 Controller 20 Underwater navigation vehicle (20A ~ when each aircraft is represented individually (Represented by 20D)
21 Hull 22 Navigation device 23 Acoustic communication device 24 Responder 25 Controller A1 20A Predetermined exploration area A2 20B Predetermined exploration area A3 20C Predetermined exploration area A4 20D Predetermined exploration Area D1 Navigation schedule information D2 Navigation information R1 15 Communication range of the acoustic communication device R2 16 Positioning range of the acoustic positioning device

Claims (4)

It is a navigation control device related to a surface navigation body that manages the navigation of the underwater navigation body.
The navigation schedule information, which is information related to the navigation route of the underwater vehicle, is retained, the course of the water navigation body is determined based on the navigation schedule information, and the water navigation is performed along the route. With a navigation control unit that controls the navigation of the body, determines the speed of the water vehicle based on the navigation schedule information, and controls the navigation of the water vehicle based on the speed. ,
An acoustic positioning unit that measures the position of the underwater vehicle by acoustic positioning,
Have,
The estimated navigation information includes position information indicating the positions of a plurality of points set as destinations on the navigation path of the underwater vehicle and the moving speed of the underwater vehicle between the points. This is information in which the speed information is associated with the time information related to the estimated time of arrival of each of the plurality of points.
The navigation control unit is a navigation control device that updates the time information of the navigation schedule information based on the acoustic positioning result by the acoustic positioning unit. The water vehicle manages the navigation of a plurality of the underwater vehicles.
The navigation schedule information is created for each of the plurality of underwater vehicles.
The navigation control unit selects a specific underwater vehicle from the plurality of underwater vehicles, and based on the travel schedule information corresponding to the underwater vehicle, the water vehicle The route is determined, the navigation of the water vehicle is repeatedly controlled along the route, and the specific is based on the acoustic positioning result of the specific underwater vehicle by the acoustic positioning unit. The navigation control device according to claim 1, wherein the time information of the navigation schedule information relating to the underwater vehicle is updated. When the acoustic positioning unit cannot perform the acoustic positioning of the underwater vehicle, the navigation control unit indicates in the navigation schedule information until the acoustic positioning of the underwater vehicle becomes possible. The navigation control device according to claim 1 or 2, which controls the navigation of the water navigation body so as to search for the underwater navigation body along the navigation path. It is a navigation control method by a navigation control device related to a surface navigation body that manages the navigation of the underwater navigation body.
Information related to the navigation path of the underwater vehicle, which is position information indicating the positions of a plurality of points set as destinations on the navigation path of the underwater vehicle, and information between the points. The cruising schedule information in which the speed information related to the moving speed of the underwater vehicle and the time information related to the estimated arrival time of each of the plurality of points are associated with each other is held, and the cruising schedule information is based on the cruising schedule information. The course of the water vehicle is determined, the navigation of the water vehicle is controlled along the route, and the speed of the water vehicle is determined based on the travel schedule information to obtain the speed. A navigation control step that controls the navigation of the surface vehicle based on
An acoustic positioning step that measures the position of the underwater vehicle by acoustic positioning, and
An update step for updating the time information of the cruising schedule information based on the acoustic positioning result in the acoustic positioning step, and an update step.
A navigation control method having.

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