JPH01249590A - Position confirming device in underwater sailing body - Google Patents
Position confirming device in underwater sailing bodyInfo
- Publication number
- JPH01249590A JPH01249590A JP7963588A JP7963588A JPH01249590A JP H01249590 A JPH01249590 A JP H01249590A JP 7963588 A JP7963588 A JP 7963588A JP 7963588 A JP7963588 A JP 7963588A JP H01249590 A JPH01249590 A JP H01249590A
- Authority
- JP
- Japan
- Prior art keywords
- buoy
- underwater vehicle
- cable
- positioning
- released
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 16
- 238000012545 processing Methods 0.000 claims abstract description 14
- 238000000034 method Methods 0.000 claims abstract description 11
- 230000005540 biological transmission Effects 0.000 claims description 15
- 238000012790 confirmation Methods 0.000 claims description 14
- 239000012530 fluid Substances 0.000 abstract description 6
- 238000001514 detection method Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 4
- 238000012937 correction Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000004880 explosion Methods 0.000 description 3
- 239000002360 explosive Substances 0.000 description 2
- 230000003447 ipsilateral effect Effects 0.000 description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
- 230000007123 defense Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000010304 firing Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/27—Arrangements for networking
- H04B10/272—Star-type networks or tree-type networks
Abstract
Description
【発明の詳細な説明】
産業上の利用分野
この発明は、所定の目標地点に向かって水中航走体を潜
水航走させている途中で、目標地点に正確に水中航走体
を誘導すべく軌道修正するために、′ｉ！４′ｒ星航法
により位置を確認する水中航走体における位置確認装置
に関する。[Detailed Description of the Invention] Industrial Application Field This invention is intended to accurately guide an underwater vehicle to a target point while the underwater vehicle is underwater traveling towards a predetermined target point. In order to correct the trajectory, ′i! The present invention relates to a position confirmation device for an underwater vehicle that confirms the position using 4'r star navigation.
従来技術及び発明の課題
所定の目は地点に向かって水中航走体を潜水航走させて
いる途中で、目標地点に正確に水中航走体を誘導すべく
軌道修正するために、衛皐航法により位置を確認するに
は、従来は衛艮からの電波を受信するために水中航走体
を水面近くに浮上させて受信アンテナを水上に出してい
た。PRIOR ART AND PROBLEM TO BE SOLVED BY THE INVENTION When an underwater vehicle is submerged toward a certain point, the underwater vehicle must be guided to the target point in order to correct its trajectory. In the past, to confirm the position of a satellite, the underwater vehicle was floated close to the water surface and the receiving antenna was placed above the water in order to receive radio waves from the satellite.
しかしながら、この方法では水中航走体が水面近くに浮
上したときに水面が荒れていると、水中航走体が波浪に
よる外力を受は再潜水することが困難になるという問題
がある。However, this method has a problem in that if the water surface is rough when the underwater vehicle floats near the water surface, the underwater vehicle receives external forces from waves and becomes difficult to re-dive.
そこで、受信アンテナを内蔵したブイをえい航し、アン
テナの受信信号を伝送ケーブルによって水中航走体に送
り、水中航走体内に設けられた信号処理装置によって信
号処理して位置を求めるようにしたものがある。Therefore, a buoy with a built-in receiving antenna was towed, the signal received by the antenna was sent to the underwater vehicle via a transmission cable, and the signal was processed by a signal processing device installed inside the underwater vehicle to determine its position. There is.
この方法では、衛星航法で用いられる電波が高周波（１
５７５Ｍｔｌｚ）であるため、アンテナの受信信号を水
中航走体に送るためには、径の大きな伝送ケーブルを用
いる必要があるとともに伝送ケーブルを長くできない。In this method, the radio waves used in satellite navigation are high frequency (1
575 Mtlz), therefore, in order to send the received signal of the antenna to the underwater vehicle, it is necessary to use a transmission cable with a large diameter, and the transmission cable cannot be made long.
伝送ケーブルの径を大きくする必要があることから、航
走中の流体抵抗が大きくなり、姿勢制御が不能となる。Since it is necessary to increase the diameter of the transmission cable, fluid resistance during navigation increases, making attitude control impossible.
安定航走のために高速にしなければならないというよう
に水中航走体の運動性能に悪影響を及ぼすという問題が
ある。また、伝送ケーブルを長くできないので、水中航
走体を水面近くまで浮上させなければならず前述の方法
と同様な問題がある。There is a problem in that it has a negative effect on the maneuverability of underwater vehicles, such as having to increase the speed for stable navigation. Furthermore, since the transmission cable cannot be made long, the underwater vehicle must be floated close to the surface of the water, resulting in the same problem as the above-mentioned method.
この発明は、上記問題をすべて解消した水中航走体にお
ける位置確認装置を提供することを目的とする。An object of the present invention is to provide a position confirmation device for an underwater vehicle that solves all of the above problems.
課題を解決するための手段
この発明による水中航走体における位置確認装置は、水
中航走体内に収納されたブイ、水中航走体に設けられた
管制装置からのブイ放出指令に基づいて、測位用ブイを
水中航走体内から放出するブイ放出装置、ブイに設けら
れ、受信アンテナ及び受信アンテナによって受信された
電波を処理し測位データを作成する信号処理装置からな
り、ブイが放出されて水面上に移動したときに測位を行
う衛星航法受信機、衛星航法受信機と管制装置とを電気
的に接続し、ブイ放出に伴って水中航走体内から引き出
され、測位終了までブイを自由に移動させ得る長さの測
位データ伝送ケーブル、並びにブイが放出されかつ信号
処理装置から管制装置に測位データが伝送きれた後に、
管制装置からの駆動指令に基づいて、水中航走体内でΔ
―Ｊ位データ伝送ケーブルを切断するケーブル切断装置
を備えていることを特徴とする。Means for Solving the Problems A position confirmation device for an underwater vehicle according to the present invention performs positioning based on a buoy stored in the underwater vehicle and a buoy release command from a control device installed in the underwater vehicle. It consists of a buoy release device that releases a buoy from within an underwater vehicle, a receiving antenna and a signal processing device installed on the buoy that processes radio waves received by the receiving antenna and creates positioning data. A satellite navigation receiver that performs positioning when the vehicle moves to the sea, electrically connects the satellite navigation receiver and the control device, and when the buoy is released, it is pulled out of the underwater vehicle and the buoy can be moved freely until the positioning is completed. After the buoy has been released and the positioning data has been transmitted from the signal processing device to the control device,
Based on the drive command from the control device, Δ
- It is characterized by being equipped with a cable cutting device that cuts the data transmission cable.
実施例
以下、図面を参照してこの発明の実施例について説明す
る。Embodiments Hereinafter, embodiments of the present invention will be described with reference to the drawings.
第１図は、水中航走体（１）の概略構成を示している。FIG. 1 shows a schematic configuration of an underwater vehicle (1).
水中航走体（１）は、魚形であり、後部に舵〈２）を有
する安定翼（３）及び推進機（４）が設けられている。The underwater vehicle (1) is fish-shaped and is provided with a stabilizing wing (3) having a rudder (2) at the rear and a propulsion machine (4).
水中航走体（１）内の後部には、推進機（４）を回転駆
動する電動モータ（５）、舵（２）を駆動制御する操舵
装置（６）及び各電気機器へ電力を供給するための電池
（７）が搭載されている。At the rear of the underwater vehicle (1), there is an electric motor (5) that rotationally drives the propulsion device (4), a steering device (6) that drives and controls the rudder (2), and supplies power to each electrical device. A battery (7) is installed.
水中航走体（１〉内の前部には、方位針（８）、深度計
（９）、速度計（１０）、第１及び第２の二つの位置確
認装置（１１）、（１２）並びに上記各機器を制御する
管制装置（１３）が搭載されている。 第２図は、位置
確認装置（１１）、（１２）の詳細を示している。各位
置確認装置（１１）、（１２）は、水中航走体（１）の
外面に設けられた凹所（１４）、（１５）にそれぞれ収
容されており、膨張代ブイ（２０）を有するブイ装置（
２１）、ブイ装置（２１）を放出するためのブイ放出装
置（２２） 、ブイ装置（２１）に設けられた衛星航法
受信機（２３）、受信機（２３）と管制装置（１３）と
を電気的に接続する測位データ伝送ケーブル（２４）及
び測位データ伝送ケーブル（２４〉を切断するケーブル
切断装置（２５）を備えている。The front part of the underwater vehicle (1) has a compass (8), a depth gauge (9), a speedometer (10), and two first and second position confirmation devices (11), (12). In addition, a control device (13) that controls each of the above-mentioned devices is installed. Fig. 2 shows details of the position confirmation devices (11) and (12). Each position confirmation device (11) and (12) ) are accommodated in recesses (14) and (15) provided on the outer surface of the underwater vehicle (1), respectively, and have an expansion buoy (20).
21), a buoy release device (22) for releasing the buoy device (21), a satellite navigation receiver (23) installed on the buoy device (21), a receiver (23) and a control device (13). It is provided with a positioning data transmission cable (24) to be electrically connected and a cable cutting device (25) for cutting the positioning data transmission cable (24>).
ブイ装置（２１）は、ブイ（２０）、衛星航法受信機（
２３）、その電源としての電池、ブイ膨張用ガスボンベ
及びそれらが内蔵されたブイ収納ケース（２６）からな
る。ケース（２６）には、蓋（２７）が着脱自在に取り
付けられている。The buoy device (21) includes a buoy (20), a satellite navigation receiver (
23), consists of a battery as its power source, a gas cylinder for buoy expansion, and a buoy storage case (26) in which they are built. A lid (27) is removably attached to the case (26).
衛星航法受信機（２３）は、受信アンテナ及び受信アン
テナによって受信された電波を処理し測位データを作成
する信号処理装置からなる。The satellite navigation receiver (23) includes a receiving antenna and a signal processing device that processes radio waves received by the receiving antenna and creates positioning data.
ブイ放出装置（２２）は、凹所（１４）、（１５）の底
面上に配され、一端が凹所（１４）、（１５）底面に枢
着され、他端かばね（２８）によって常に上方に付勢さ
れたブイ受台（２９）と、ブイ受台（２９）に載せられ
たブイ装置（２１）を、ばね（２８）の付勢力に抗して
凹所（１４）、（１５）内に保持するように水中航走体
（１）に取り付けられた金属性の凹所閉鎖板（３０）と
からなる。凹所閉鎖板（３０）は、その前端が水中航走
体（１）に枢着され、その後端が水中航走体（１）に爆
発ボルト（３１）によって固定されている。爆発ボルト
（３１）を固定するねじ固定部（３２）は、凹所（１４
）、（１５）後面に内方突出状に形成されており、その
上面には、閉鎖板簡易固定用のマグネット（３３）が固
定されている。The buoy release device (22) is arranged on the bottom surface of the recesses (14), (15), one end is pivotally connected to the bottom surface of the recesses (14), (15), and the other end is always raised upward by a spring (28). The buoy pedestal (29) biased by It consists of a metallic recess closing plate (30) attached to the underwater vehicle (1) so as to be retained within the underwater vehicle (1). The front end of the recess closing plate (30) is pivotally connected to the underwater vehicle (1), and the rear end is fixed to the underwater vehicle (1) by an explosive bolt (31). The screw fixing part (32) for fixing the explosion bolt (31) is located in the recess (14).
), (15) are formed inwardly protruding from the rear surface, and a magnet (33) for simple fixing of the closing plate is fixed to the upper surface thereof.
測位データ伝送ケーブル（２４）は、ブイ装置（２１）
が放出されて水面上に浮上し、衛星航法受信機（２３）
によって測位が終了するまでブイ装置（２１）を自由に
移動させ得る長さであり、その長さ中間部は、巻回状態
でケーブル収納部（３４）に収納されている。ケーブル
（２４）の一端部は、ケーブル切断装置（２５）内を通
って、ブイ収納ケース（２Ｇ）内にのび、衛星航法受信
機（２３）に接続されている。ケーブル（２４）の他端
部は、管制装置（１３）に接続されている。The positioning data transmission cable (24) is connected to the buoy device (21)
is released and rises to the surface of the water, and the satellite navigation receiver (23)
The length is such that the buoy device (21) can be freely moved until positioning is completed, and the middle part of the length is stored in the cable storage section (34) in a wound state. One end of the cable (24) passes through the cable cutting device (25), extends into the buoy storage case (2G), and is connected to the satellite navigation receiver (23). The other end of the cable (24) is connected to the control device (13).
第３図を参照して、水中航走体（１）の発射地点Ａから
目標地点Ｂまでのコースは、あらかじめ設定されており
、水中航走体（１）を目標地点Ｂに誘導するためのデー
タは、あらかじめ管制装置（１３）に記憶されている。Referring to FIG. 3, the course from launch point A to target point B of underwater vehicle (1) is set in advance, and the course for guiding underwater vehicle (1) to target point B is set in advance. The data is stored in advance in the control device (13).
水中航走体（１）は、管制装置（１３）に記憶されてい
るデータ、方位計（８）、深度計（９）及び速度計（１
０）に基づいて、推測航法によって上記コースに沿って
航走される。そして、あらかじめ定められたコース上の
２点、すなわち、第１同側位点Ｓ１及び第２回ＪＩＩＪ
位点Ｓ２で雨足航法によって１ＩＩＪ位が行われ、この
測位結果に基づいて軌道修正処理が行われる。この例で
は、発射地点Ａと目標地点Ｂとの間の距離をＬとすると
、第１同側位点Ｓ１は、発射地点Ａから目標地点Ｂに向
かって１／２Ｌ離れた位置に、第２回ｌｐｊ位点Ｓ２は
、目標地点Ｂから発射地点Ａ側に１／８Ｌの距離の地点
にそれぞれ設定されている。The underwater vehicle (1) uses data stored in a control device (13), a direction meter (8), a depth meter (9), and a speed meter (1).
0), the vessel is sailed along the above course by dead reckoning. Then, two points on the predetermined course, namely, the first ipsilateral point S1 and the second JIIJ
At location point S2, 1IIJ position is performed by rain foot navigation, and trajectory correction processing is performed based on this positioning result. In this example, if the distance between the launch point A and the target point B is L, the first ipsilateral point S1 is located 1/2L away from the launch point A toward the target point B, and the second The rotation lpj position S2 is set at a distance of 1/8L from the target point B to the firing point A side.
第４図及び第５図を参照して、測位時の第１位置確認装
置（１１）の動作について説明する。水中航走体（１）
が、発射地点Ａから発射され第１（ｉｌｌｉＩｌＰ）色
点Ｓ１に到達すると、管制装置（１３）から第１位置確
認装置（１１）の爆発ボルト（３１）の起爆部にブイ放
出指令が送られ、爆発ボルト（３１）が爆発により切断
され、ばね（２８）の付勢力によって凹所閉鎖板（３０
）が開くとともにブイ装置（２１）が水中航走体（１）
外に放出される。ブイ装置（２１）が放出されると同時
に、ケース（２６）の蓋（２７）が外れるとともにブイ
（２０）がブイ膨張用ガスボンベによって膨脂せしめら
れ、ブイ装置（２１）は浮上していく。ブイ装置（２１
）の浮上に伴ってケーブル（２４）は、凹所（１４）内
から引き出されていく （第４図）。The operation of the first position confirmation device (11) during positioning will be described with reference to FIGS. 4 and 5. Underwater vehicle (1)
is launched from launch point A and reaches the first (illiIlP) color point S1, a buoy release command is sent from the control device (13) to the detonator of the explosive bolt (31) of the first position confirmation device (11). , the explosion bolt (31) is cut by the explosion, and the recess closing plate (30) is opened by the biasing force of the spring (28).
) is opened and the buoy device (21) is connected to the underwater vehicle (1).
released outside. At the same time as the buoy device (21) is released, the lid (27) of the case (26) is removed and the buoy (20) is inflated by the buoy expansion gas cylinder, and the buoy device (21) floats up. Buoy device (21
), the cable (24) is pulled out from within the recess (14) (Fig. 4).
ブイ装置（２１）が水面に浮上すると、衛星航法受信機
（２３）による？ｆｐ１位が開始される。この測位中に
おいても水中航走体（１）は一定の深度を一定の速度で
航走しており、ケーブル（２４）は凹所（１４）内から
引き出され続けている。When the buoy device (21) rises to the water surface, the satellite navigation receiver (23)? fp1st place starts. Even during this positioning, the underwater vehicle (1) is traveling at a constant speed at a constant depth, and the cable (24) continues to be pulled out from within the recess (14).
測位が終了すると、衛星航法受信機（２３）から管制装
置（１３）に、ケーブル（２４）を介して測位データ（
緯度データ、経度データ等）が送られる。When the positioning is completed, the positioning data (
latitude data, longitude data, etc.) are sent.
測位データが管制装置（１３）に送られると、管制装置
（１３〉はケーブル切断装置（２５）に駆動指令を送る
とともにｎ１位データに基づいて水中航走体（１）の軌
道修正処理を行う。ケーブル切断装置（２５）は、駆動
指令によって駆動され、これにより、ケーブル（２４）
が切断される。ケーブル（２４）が切断されると、凹所
閉鎖板（３０）は、流体力によって自動的に閉まり、マ
グネット（３３）によって簡易固定される（第５図）。When the positioning data is sent to the control device (13), the control device (13) sends a drive command to the cable cutting device (25) and performs a trajectory correction process of the underwater vehicle (1) based on the n1 position data. The cable cutting device (25) is driven by the drive command, thereby cutting the cable (24).
is disconnected. When the cable (24) is cut, the recess closing plate (30) is automatically closed by fluid force and easily fixed by the magnet (33) (FIG. 5).
水中航走体（１）は、軌道修正されながら推測航法によ
って第２口側位地点Ｓ２に向かって航走する。そして、
第２口側位地点Ｓ２に到達すると、上記と同様に第２位
置確認装置（１２）が作動されて測位が行われるととも
に第２回目の軌道修正が行われ、水中航走体（１）は、
推測航法によって目標地点Ｂに向かって航走する。The underwater vehicle (1) travels toward the second mouth side point S2 by dead reckoning while its trajectory is corrected. and,
Upon reaching the second mouth side point S2, the second position confirmation device (12) is activated and positioning is performed in the same manner as above, and the second trajectory correction is performed, and the underwater vehicle (1) ,
Navigate toward target point B by dead reckoning.
上記実施例ではζ水中航走体（１）に２つの位置Ｔａ認
装置（１１）（１２）が設けられているが、位置確認装
置の設置数は、測位回数に応じて任意に定めることがで
きる。また、ブイ放出装置（２２）としでは、管制装置
からのブイ放出指令に基づいてブイ装置（２１）を水中
航走体内から放出できるしのであれば、上記構成のもの
に限られない。In the above embodiment, two position Ta recognition devices (11) and (12) are installed on the ζ underwater vehicle (1), but the number of position recognition devices installed can be determined arbitrarily depending on the number of positionings. can. Further, the buoy release device (22) is not limited to the above configuration as long as the buoy device (21) can be released from the underwater vehicle based on a buoy release command from the control device.
上記水中航走体（１）では、ブイ装置（２１）に設けら
れた衛星航法受信機（２３）は、受信アンテナ及び受信
アンテナによって受信された電波を処理し測位データを
作成する信号処理装置からなるので、ケーブル（２４）
を細くかつ長くできる。In the underwater vehicle (1), the satellite navigation receiver (23) provided on the buoy device (21) is connected to a receiving antenna and a signal processing device that processes radio waves received by the receiving antenna and creates positioning data. Therefore, the cable (24)
can be made thinner and longer.
そして、ブイ装置（２１）を放出して水面上に浮上させ
、ブイ装置（２１）に設けられた衛星航法受信機（２３
）によって測位を行っているので、水中航走体（１）を
水面近くまで浮上させることなく、衛星航法によって位
置確認が行える。Then, the buoy device (21) is released and floated above the water surface, and the satellite navigation receiver (23) installed on the buoy device (21) is
), the position can be confirmed by satellite navigation without raising the underwater vehicle (1) close to the water surface.
また、ケーブル（２４）は、ブイ装置（２１）が放出さ
れて水面上に浮上し、衛星航法受信機（２３）によって
測位が終了するまでブイ装置（２１）を自由に移動させ
得る長さであるため、ブイ装置（２１）及びケーブル（
２４）による流体抵抗が水中航走体（１）にほとんど影
響しないので、安定した航走状態で測位を行える。さら
に、測位後においてはケーブル（２４）が切断されてブ
イ装置（２１）が切り離されるので、ブイ装置（２１）
及びケーブル（２４）による流体抵抗の影響が全くなく
なり、安定した航走ができる。In addition, the cable (24) has a length that allows the buoy device (21) to be freely moved until it is released and floats above the water surface and positioning is completed by the satellite navigation receiver (23). Therefore, the buoy device (21) and cable (
Since the fluid resistance caused by 24) has almost no effect on the underwater vehicle (1), positioning can be performed in a stable traveling state. Furthermore, after positioning, the cable (24) is cut and the buoy device (21) is separated, so the buoy device (21)
Also, the influence of fluid resistance due to the cable (24) is completely eliminated, allowing stable cruising.
発明の効果
この発明による水中航走体における位置確認装置は、水
中航走体内に収納されたブイ、水中航走体に設けられた
管制装置からのブイ放出指令に基づいて、Δ１ｊ位用ブ
イを水中航走体内から放出するブイ放出装置、ブイに設
けられ、受信アンテナ及び受信アンテナによって受信さ
れた電波を処理し８１１位データを作成する信号処理装
置からなり、ブイが放出されて水面上に移動したときに
測位を行う衛星航法受信機、衛星航法受信機と管制装置
とを電気的に接続し、ブイ放出に伴って水中航走体内か
ら引き出され、４１１位終了までブイを自由に移動させ
得る長さの測位データ伝送ケーブル、並びにブイが放出
されかつ信号処理装置から管制装置に測位データが伝送
された後に、管制装置からの駆動指令に基づいて、水中
航走体内で測位データ伝送ケーブルを切断するケーブル
切断装置を備えている。Effects of the Invention The position confirmation device for an underwater vehicle according to the present invention detects a buoy for position Δ1j based on a buoy stored in the underwater vehicle and a buoy release command from a control device installed in the underwater vehicle. It consists of a buoy release device that releases from within the underwater vehicle, a receiving antenna and a signal processing device installed on the buoy that processes the radio waves received by the receiving antenna and creates 811 data.The buoy is released and moves to the surface of the water. When the buoy is released, the satellite navigation receiver that performs positioning is electrically connected to the control device, and when the buoy is released, it is pulled out of the underwater vehicle and the buoy can be moved freely until it finishes at the 411th position. After the length of the positioning data transmission cable and the buoy are released and the positioning data is transmitted from the signal processing device to the control device, the positioning data transmission cable is cut within the underwater vehicle based on the drive command from the control device. Equipped with a cable disconnection device.
ブイに設けられた衛星航法受信機は、受信アンテナ及び
受信アンテナによって受信された電波を処理し測位デー
タを作成する信号処理装置からなるので、ケーブルを細
くかつ長くできる。Since the satellite navigation receiver installed on the buoy consists of a receiving antenna and a signal processing device that processes radio waves received by the receiving antenna and creates positioning data, the cable can be made thinner and longer.
そして、ブイが放出されて水面上に移動したときにブイ
に設けられた衛星航法受信機によって測位が行われるの
で、水中航走体を水面近くまで浮上させることな（、衛
星航法によって位置確認が行える。Then, when the buoy is released and moves above the water surface, positioning is performed by the satellite navigation receiver installed on the buoy, so the underwater vehicle does not have to surface close to the water surface (the position can be confirmed by satellite navigation). I can do it.
また、ケーブルは、ブイ放出に伴って水中航走体内から
引き出され、測位終了までブイを自由に移動させ得る長
さであるため、測位時において、ブイ及びケーブルによ
る流体抵抗が水中航走体にほとんど影響しないので、安
定した航走状態で測位を行える。In addition, the cable is pulled out from the underwater vehicle when the buoy is released, and is long enough to allow the buoy to move freely until the end of positioning. Since there is almost no influence, positioning can be performed under stable navigation conditions.
さらに、測位後においては、ケーブル切断装置によって
、ケーブルが切断されてブイが切り離されるので、ブイ
及びケーブルによる流体抵抗の影響が全くなくなり、安
定した航走ができる。Furthermore, after positioning, the cable is cut by the cable cutting device and the buoy is separated, so the influence of fluid resistance due to the buoy and cable is completely eliminated, allowing stable navigation.
図面は、この発明の実施例を示し、第１図は水中航走体
の概略構成を示す構成図、第２図は位置確認装置の詳細
を示す構成図、第３図は水中航走体の航走コース及び測
定位置地点を示す図、第４図及び第５図は位置確認装置
の動作を説明するための動作説明図である。
（１）・・・水中航走体、（１１）、（１２）・・・位
置確認装置、（１３）・・・管制装置、（２０）・・・
膨張代ブイ、（２１）・・・ブイ装置、（２２）・・・
ブイ放出装置、（２３）・・・衛星航法受信機、（２４
）・・・測位データ伝送ケーブル、（２５）・・・ケー
ブル切断装置。
以上
特許出願人 防衛庁技術研究本部長−筒井良三
同 日立造船株式会社The drawings show an embodiment of the present invention, and FIG. 1 is a block diagram showing a schematic configuration of an underwater vehicle, FIG. 2 is a block diagram showing details of a position confirmation device, and FIG. The diagrams showing the navigation course and the measurement position points, and FIGS. 4 and 5 are operation explanatory diagrams for explaining the operation of the position confirmation device. (1)... Underwater vehicle, (11), (12)... Position confirmation device, (13)... Control device, (20)...
Expansion allowance buoy, (21)... Buoy device, (22)...
Buoy release device, (23)... Satellite navigation receiver, (24
)...Positioning data transmission cable, (25)...Cable cutting device. Patent applicant Ryozo Tsutsui, Director of the Technology Research Headquarters, Defense Agency Hitachi Zosen Corporation
Claims (1)
基づいて、ブイを水中航走体内から放出するブイ放出装
置、 ブイに設けられ、受信アンテナ及び受信アンテナによっ
て受信された電波を処理し測位データを作成する信号処
理装置からなり、ブイが放出されて水面上に移動したと
きに測位を行う衛星航法受信機、 衛星航法受信機と管制装置とを電気的に接続し、ブイ放
出に伴って水中航走体内から引き出され、測位終了まで
ブイを自由に移動させ得る長さの測位データ伝送ケーブ
ル、並びにブイが放出されかつ信号処理装置から管制装
置に測位データが伝送された後に、管制装置からの駆動
指令に基づいて、水中航走体内で測位データ伝送ケーブ
ルを切断するケーブル切断装置を備えている水中航走体
における位置確認装置。[Scope of Claims] A buoy housed in an underwater vehicle; a buoy release device that releases a buoy from the underwater vehicle based on a buoy release command from a control device installed in the underwater vehicle; Satellite navigation receiver, which consists of a receiving antenna and a signal processing device that processes the radio waves received by the receiving antenna and creates positioning data, and performs positioning when the buoy is released and moves above the water surface. A positioning data transmission cable that electrically connects the aircraft and the control device, is pulled out from the underwater vehicle when the buoy is released, and is long enough to allow the buoy to move freely until the end of positioning, as well as a positioning data transmission cable that is long enough to allow the buoy to move freely until the end of positioning. Position confirmation in an underwater vehicle equipped with a cable cutting device that cuts the positioning data transmission cable within the underwater vehicle based on drive commands from the control device after positioning data is transmitted from the processing device to the control device. Device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7963588A JPH01249590A (en) | 1988-03-30 | 1988-03-30 | Position confirming device in underwater sailing body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7963588A JPH01249590A (en) | 1988-03-30 | 1988-03-30 | Position confirming device in underwater sailing body |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH01249590A true JPH01249590A (en) | 1989-10-04 |
| JPH0378316B2 JPH0378316B2 (en) | 1991-12-13 |
Family
ID=13695549
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP7963588A Granted JPH01249590A (en) | 1988-03-30 | 1988-03-30 | Position confirming device in underwater sailing body |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH01249590A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0396997U (en) * | 1990-01-24 | 1991-10-04 | ||
| JP2019098865A (en) * | 2017-11-30 | 2019-06-24 | 国立大学法人東京海洋大学 | Holding/ejecting apparatus of ejected object and underwater sailing body equipped therewith |
-
1988
- 1988-03-30 JP JP7963588A patent/JPH01249590A/en active Granted
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0396997U (en) * | 1990-01-24 | 1991-10-04 | ||
| JP2019098865A (en) * | 2017-11-30 | 2019-06-24 | 国立大学法人東京海洋大学 | Holding/ejecting apparatus of ejected object and underwater sailing body equipped therewith |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0378316B2 (en) | 1991-12-13 |
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