JPH07333318A - Device for measuring three-dimensional submerging attitude of linear towed body - Google Patents
Device for measuring three-dimensional submerging attitude of linear towed bodyInfo
- Publication number
- JPH07333318A JPH07333318A JP12530394A JP12530394A JPH07333318A JP H07333318 A JPH07333318 A JP H07333318A JP 12530394 A JP12530394 A JP 12530394A JP 12530394 A JP12530394 A JP 12530394A JP H07333318 A JPH07333318 A JP H07333318A
- Authority
- JP
- Japan
- Prior art keywords
- wave
- towed body
- sound source
- linear
- receivers
- 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 abstract description 5
- 238000005259 measurement Methods 0.000 description 11
- 238000000034 method Methods 0.000 description 8
- 238000012545 processing Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000000644 propagated effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
Landscapes
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、水中曳航体の曳航姿勢
を音響的に計測する線状曳航体の３次元水中姿勢計測装
置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a linear towed three-dimensional underwater posture measuring apparatus for acoustically measuring the towed posture of an underwater towed vehicle.
【０００２】[0002]
【従来の技術】従来、水中曳航体の姿勢計測は、水中ビ
デオ撮影等の光学的方法で行われてきた。しかし、曳航
体が長大な場合、あるいは曳航体深度が深い場合には、
光学的な方法による姿勢計測は、光量等の制約により測
定範囲が狭いため不可能である。2. Description of the Related Art Conventionally, the attitude measurement of an underwater towed body has been performed by an optical method such as underwater video shooting. However, if the towed body is large or the towed body is deep,
Attitude measurement by an optical method is impossible because the measurement range is narrow due to restrictions such as the amount of light.
【０００３】そこで、測定範囲が広い、音響的な方法に
よる姿勢計測が有望視されてきている。このような音響
的な方法による姿勢計測は、曳航体に複数の受波器を設
置し、音波を送波して、その直接波の受信に基づく姿勢
計測が試みられている。Therefore, attitude measurement by an acoustic method, which has a wide measurement range, is regarded as promising. Attitude measurement by such an acoustic method has been attempted by installing a plurality of wave receivers on a towed body, transmitting sound waves, and receiving the direct waves.
【０００４】[0004]
【発明が解決しようとする課題】しかしながら、このよ
うな直接波だけからの情報では、音源と各受波器の距離
が計測されるにとどまり、受波器の深度や受波器間の相
対位置関係を正確に知ることは不可能であった。本発明
は、以上述べた、直接波による音響的な計測方法の欠点
を除去するために、曳航体に沿って設置した複数の受波
器により音源からの直接波に加えて、水面からの反射波
を受信することによって、正確、かつ迅速に線状曳航体
の３次元水中姿勢計測装置を提供することを目的として
いる。However, with such information from only direct waves, the distance between the sound source and each receiver is measured, and the depth of the receiver and the relative position between the receivers are measured. It was impossible to know the relationship exactly. In order to eliminate the above-mentioned drawbacks of the acoustic measurement method using a direct wave, the present invention uses a plurality of wave receivers installed along the towed body to reflect the direct wave from the sound source and the reflection from the water surface. It is an object of the present invention to provide a three-dimensional underwater attitude measuring device for a linear towed body accurately and quickly by receiving waves.
【０００５】[0005]
【課題を解決するための手段】本発明は、上記目的を達
成するために、受波器を複数設置した線状曳航体の３次
元水中姿勢計測装置において、海中に設置される音源
と、この音源の深度を計測する深度計と、線状曳航体に
配設される複数の受波器とを具備し、前記音源からのパ
ルス音の直接波及び海面からの反射波を前記線状曳航体
の各受波器により受波することで前記音源と線状曳航体
の各受波器間及び線状曳航体の隣接する受波器間の水平
距離及び各受波器の深度を測定し、線状曳航体の水中姿
勢を３次元的に計測するようにしたものである。In order to achieve the above-mentioned object, the present invention provides a three-dimensional underwater attitude measuring device for a linear towed body having a plurality of wave receivers, and a sound source installed under the sea. The linear towed body is provided with a depth meter for measuring the depth of the sound source and a plurality of wave receivers arranged in the linear towed body, and the direct wave of the pulse sound from the sound source and the reflected wave from the sea surface are provided in the linear towed body. By measuring the horizontal distance between the sound source and each wave receiver of the linear towed body and between the adjacent wave receivers of the linear towed body and the depth of each wave receiver by receiving by each wave receiver of The underwater posture of the linear towed body is measured three-dimensionally.
【０００６】[0006]
【作用】本発明によれば、上記のように、線状曳航体の
水中姿勢計測装置において、音源からの直接波及び海面
からの反射波を曳航体に設置した複数の受波器が受波す
ることにより、音源と曳航体の各受波器間及び曳航体の
隣接する受波器間の水平距離並びに各受波器の深度を測
定し、曳航体の水中姿勢を３次元的に計測する。According to the present invention, as described above, in the underwater attitude measuring device for a linear towed body, a plurality of wave receivers installed on the towed body receive the direct wave from the sound source and the reflected wave from the sea surface. By doing so, the horizontal distance between the sound source and each wave receiver of the towed body, the horizontal distance between the adjacent wave receivers of the towed body, and the depth of each wave receiver are measured, and the underwater attitude of the towed body is three-dimensionally measured. .
【０００７】したがって、水中に曳航された大きな曳航
体の曳航姿勢を迅速、かつ正確に、しかも３次元的に計
測することができ、曳航体のダイナミックな動きを捉え
ることができる。Therefore, the towing attitude of a large towed vehicle towed in water can be measured quickly, accurately, and three-dimensionally, and the dynamic movement of the towed vehicle can be captured.
【０００８】[0008]
【実施例】以下、本発明の実施例について図面を参照し
ながら詳細に説明する。図１は本発明の実施例を示す線
状曳航体の３次元水中姿勢計測システムの構成図、図２
は本発明の実施例を示す線状曳航体の水中姿勢計測状態
を示す図である。Embodiments of the present invention will now be described in detail with reference to the drawings. FIG. 1 is a configuration diagram of a three-dimensional underwater attitude measuring system for a linear towed body showing an embodiment of the present invention, and FIG.
FIG. 4 is a diagram showing an underwater posture measurement state of a linear towed body showing an embodiment of the present invention.
【０００９】図２に示すように、１は曳航体を曳航する
曳航船であり、この曳航船１には線状曳航体２を有して
いる。この線状曳航体２には受波器３が等間隔に複数配
置されている。また、トリガ電波受信用アンテナ４を具
備している。一方、音源船２０には音源２２が吊り下げ
られており、この音源２２からはパルス音を送信する。
音源船２０はエンジンを停止し、雑音の放射を防ぐこと
が望ましい。また、音源船２０にはトリガ電波送信用ア
ンテナ２１が設けられており、音波を送波すると同時
に、音波送波を知らせるトリガ電波を送信する。As shown in FIG. 2, reference numeral 1 is a towing vessel for towing a towing body, and this towing vessel 1 has a linear towing body 2. In this linear towed body 2, a plurality of wave receivers 3 are arranged at equal intervals. Moreover, the antenna 4 for receiving the trigger radio wave is provided. On the other hand, a sound source 22 is suspended from the sound source ship 20, and a pulse sound is transmitted from this sound source 22.
It is desirable for the sound source ship 20 to stop the engine and prevent noise emission. Further, the sound source ship 20 is provided with a trigger radio wave transmitting antenna 21, which transmits a sound wave and at the same time transmits a trigger radio wave for notifying the sound wave transmission.
【００１０】以下、この線状曳航体の３次元水中姿勢計
測システムの具体的に説明する。図１に示すように、音
源船２０には、トリガ電波送信のためのアンテナ２１、
音源２２、深度計２３、発振器２４、増幅器２５を具備
しており、発振器２４から出力されるパルス信号は、増
幅器２５で増幅され、音源２２からパルス音が送信され
る。また、アンテナ２１からはトリガ電波の送信が行わ
れる。更に、音源２２の横に深度計２３を設けることに
より、音源２２の深度を計測する。ただし、深度の計測
はこの方法に限らず、音源２２を吊るすロープの長さを
計ったり、複数の音源を配置することにより行うことが
できる。Hereinafter, the three-dimensional underwater attitude measuring system for the linear towed body will be specifically described. As shown in FIG. 1, the sound source ship 20 includes an antenna 21 for transmitting a trigger electric wave,
The sound source 22, the depth meter 23, the oscillator 24, and the amplifier 25 are provided. The pulse signal output from the oscillator 24 is amplified by the amplifier 25, and a pulse sound is transmitted from the sound source 22. Also, the trigger radio wave is transmitted from the antenna 21. Furthermore, the depth of the sound source 22 is measured by providing a depth meter 23 beside the sound source 22. However, the depth measurement is not limited to this method, and can be performed by measuring the length of the rope that suspends the sound source 22 or disposing a plurality of sound sources.
【００１１】一方、曳航船１は、線状曳航体２を有し、
この曳航体２には等間隔に複数配置された受波器３から
なる受波部５、該受波部５が接続される入力部６、該入
力部６に接続される処理部１０、該処理部１０に接続さ
れる表示部７、マニュアル・データ・入力装置（ＭＤ
Ｉ）８が接続されている。また、前記入力部６に接続さ
れるトリガ電波受信用アンテナ４を有している。On the other hand, the towing vessel 1 has a linear towing body 2,
On the towed body 2, a wave receiving unit 5 including a plurality of wave receivers 3 arranged at equal intervals, an input unit 6 connected to the wave receiving unit 5, a processing unit 10 connected to the input unit 6, Display unit 7 connected to the processing unit 10, manual data input device (MD
I) 8 is connected. Further, it has a trigger radio wave receiving antenna 4 connected to the input unit 6.
【００１２】また、処理部１０は、中央処理装置（ＣＰ
Ｕ）１１、プログラムが記憶されるＲＯＭと、データが
記憶されるＲＡＭを有するメモリ１２、入力部６に接続
されるインターフェース１３、表示部７及びマニュアル
・データ・入力装置８に接続されるインターフェース１
４等を有している。次に、本発明における曳航体の水中
姿勢計測原理について述べる。The processing unit 10 is a central processing unit (CP).
U) 11, ROM for storing programs, memory 12 having RAM for storing data, interface 13 connected to input unit 6, interface 1 connected to display unit 7 and manual data input device 8
It has 4 mag. Next, the principle of measuring the underwater attitude of the towed body in the present invention will be described.
【００１３】図３において、音源２２の位置をＡとし、
基準として選んだ受波器、例えば、先端の受波器３ａの
位置をＢとする。３１は音源２２から受波器３ａへ伝搬
される直接波、３２は音源２２から海面で反射され受波
器３ａへ伝搬される反射波である。また、２２′は音源
２２の鏡像であり、その位置をＣとする。音源２２の深
度は深度計２３で予め計測しておき、音源船２０より曳
航船１に無線通信により、通知して、予めマニュアル・
データ・入力装置８から処理部１０のメモリ１２に記憶
させておく。この音源２２の深度をＺ0 とする。受波器
３ａで受ける信号は直接波３１、続いて反射波３２の順
序であり、各信号の到達時刻からトリガ電波の到達時刻
を引けば、直接波の伝搬時間Ｔ1 及び反射波の伝搬時間
Ｔ2 を得ることができる。水中の音速をｃとすれば、図
３のＡＣ間の距離は音源深度の２倍の２Ｚ0 、ＡＢ間の
距離はｃＴ1 、またＢＣ間の距離はｃＴ2 となる。In FIG. 3, the position of the sound source 22 is A,
Let B be the position of the wave receiver selected as a reference, for example, the wave receiver 3a at the tip. Reference numeral 31 is a direct wave propagated from the sound source 22 to the wave receiver 3a, and 32 is a reflected wave reflected from the sound source 22 on the sea surface and propagated to the wave receiver 3a. 22 'is a mirror image of the sound source 22 and its position is C. The depth of the sound source 22 is measured by a depth meter 23 in advance, and the sound source ship 20 notifies the towing ship 1 by wireless communication, and a manual
The data / input device 8 is stored in the memory 12 of the processing unit 10. The depth of the sound source 22 is Z 0 . The signal received by the wave receiver 3a is in the order of the direct wave 31 and then the reflected wave 32. If the arrival time of the trigger radio wave is subtracted from the arrival time of each signal, the propagation time T 1 of the direct wave and the propagation time of the reflected wave T 2 can be obtained. Assuming that the speed of sound in water is c, the distance between AC in FIG. 3 is 2Z 0 , which is twice the sound source depth, the distance between AB is cT 1 , and the distance between BC is cT 2 .
【００１４】すると、受波器３ａの深度Ｚ1 、及び音源
２２と受波器３ａの水平距離Ｌ1 は、直角三角形ＢＡＤ
と直角三角形ＢＣＤの関係から、それぞれ、 Ｚ1 ＝ｃ2 （Ｔ2 2 −Ｔ1 2 ）／４Ｚ0 Ｌ1 ＝〔ｃ2 Ｔ1 2 −（Ｚ0 −Ｚ1 ）2 〕1/2 となる。したがって、任意の受波器ｎについて、受波器
深度Ｚn 及び音源２２と受波器３の水平距離Ｌn は求ま
る。Then, the depth Z 1 of the wave receiver 3a and the horizontal distance L 1 between the sound source 22 and the wave receiver 3a are the right triangle BAD.
And the right triangle BCD, Z 1 = c 2 (T 2 2 −T 1 2 ) / 4Z 0 L 1 = [c 2 T 1 2 − (Z 0 −Z 1 ) 2 ] 1/2 , respectively. Become. Therefore, for any receiver n, the receiver depth Z n and the horizontal distance L n between the sound source 22 and the receiver 3 can be obtained.
【００１５】次に、音源と曳航体に設置された各受波器
との水平距離及び各受波器の深度を図３の方式で測定し
た後の曳航姿勢の求め方について述べる。図４で、Ｚ1
〜Ｚn 及びＬ1 〜Ｌn は、それぞれ各受波器の深度及び
音源と各受波器との水平距離を示す。また、ここでは、
各受波器同士の間隔は一定値ｒとする。また、１番目の
受波器と２番目の受波器との水平距離をＬ1,2 とおけ
ば、 Ｌ1,2 ＝〔ｒ2 −（Ｚ1 −Ｚ2 ）2 〕1/2 で与えられる。したがって、任意の隣接する受波器ｎと
受波器ｎ＋１との水平距離Ｌn, n+1は求めることができ
る。座標系を１番目の受波器が原点に２番目の受波器が
（Ｌ1,2 ，０，Ｚ2 ）となるようにとる。Next, a method for obtaining the towing attitude after measuring the horizontal distance between the sound source and each wave receiver installed on the towed body and the depth of each wave receiver by the method of FIG. 3 will be described. In FIG. 4, Z 1
To Z n and L 1 ~L n indicates the horizontal distance between the depth and the sound source and the receivers of each receivers, respectively. Also here
The interval between the wave receivers is a constant value r. If the horizontal distance between the first wave receiver and the second wave receiver is L 1,2 , then L 1,2 = [r 2 − (Z 1 −Z 2 ) 2 ] 1/2 Given. Therefore, the horizontal distance L n, n + 1 between any adjacent wave receiver n and wave receiver n + 1 can be obtained. Second receivers coordinate system to the first receivers are origin (L 1,2, 0, Z 2 ) taken and so as.
【００１６】次に、音源の座標を（Ｘ0 ，Ｙ0 ，Ｚ0 ）
とおくと、Ｚ0 は既知であり、Ｘ0，Ｙ0 は、 Ｘ0 ＝（Ｌ1 2 −Ｌ2 2 ＋Ｌ1,2 2 ）／２Ｌ1,2 Ｙ0 ＝（Ｌ1 2 −Ｘ0 2 ）1/2 となる。次に３番目以降の受波器の位置（Ｘn ，Ｙn ，
Ｚn ）（ｎ≧３）の決定法を示す。Next, the coordinates of the sound source are (X 0 , Y 0 , Z 0 )
Then, Z 0 is known, and X 0 and Y 0 are X 0 = (L 1 2 −L 2 2 + L 1,2 2 ) / 2L 1,2 Y 0 = (L 1 2 −X 0 2 ) 1/2 . Next, the positions of the third and subsequent receivers (X n , Y n ,
A method for determining Z n ) (n ≧ 3) will be described.
【００１７】図４で２番目の受波器と３番目の受波器の
水平距離をＬ2,3 とおくと、これはＬ1,2 と同様に与え
られる。また、３番目の受波器の深度は、既知である。
ここで、Ｌ2 及びＬ3 は既知であるので、未知の３番目
の受波器の位置（Ｘ3，Ｙ3 ）は（Ｘ0 ，Ｙ0 ）、（Ｘ
2 ，Ｙ2 ）を２つの頂点とし、各辺の長さがＬ 2 ，
Ｌ3 ，Ｌ2,3 であるような三角形のもう１つの頂点とし
て求まる。この際、この頂点は２つ求まるが、Ｘ3 が大
きい方の頂点をとる。これにより定まった３番目の受波
器の位置と音源の位置を用いて、同様に４番目の受波器
の位置が求まる。これを繰り返して、ｎ番目の受波器の
位置まで決めることができる。In FIG. 4, the second receiver and the third receiver are
Horizontal distance is L2,3This is L1,2Given as
To be Also, the depth of the third receiver is known.
Where L2And L3Is known, so the unknown third
Position of the receiver of (X3, Y3) Is (X0, Y0), (X
2, Y2) As two vertices and the length of each side is L 2，
L3, L2,3And another vertex of the triangle such that
Can be obtained. At this time, two vertices are obtained, but X3Is large
Take the top of the threshold. The third wave received by this
Similarly, using the position of the receiver and the position of the sound source, the fourth receiver
The position of can be obtained. Repeat this for the nth receiver
You can decide the position.
【００１８】途中で、｜Ｌm+1 −Ｌm ｜＞ｒとなった場
合には、三角形が形成できない。これは、前述の通り、
各受波器の位置の候補が２つ存在しているためで、ｍ＋
１番目の受波器の位置が、三角形を形成できるまで、Ｘ
軸の位置が小さい方の受波器の位置に受波器を逆のぼっ
て変更する。これによりすべての受波器位置が決まるの
で、曳航体の３次元水中姿勢を求めることができる。If │L m + 1 -L m │> r on the way, a triangle cannot be formed. As mentioned above,
Because there are two candidates for the position of each receiver, m +
X until the position of the first receiver forms a triangle
Reverse the receiver to the position of the receiver with the smaller shaft position. Since all the receiver positions are determined by this, the three-dimensional underwater posture of the towed body can be obtained.
【００１９】なお、本発明は上記実施例に限定されるも
のではなく、本発明の趣旨に基づいて種々の変形が可能
であり、これらを本発明の範囲から排除するものではな
い。The present invention is not limited to the above embodiments, and various modifications can be made based on the spirit of the present invention, and these modifications are not excluded from the scope of the present invention.
【００２０】[0020]
【発明の効果】以上、詳細に説明したように、本発明に
よれば、水中に曳航された大きな曳航体の曳航姿勢を瞬
間に、正確に、しかも３次元的に計測することができ、
曳航体のダイナミックな動きを捉えることが可能とな
る。As described above in detail, according to the present invention, it is possible to instantaneously, accurately and three-dimensionally measure the towing attitude of a large towed body towed in water.
It is possible to capture the dynamic movement of the towed body.
【図１】本発明の実施例を示す線状曳航体の３次元水中
姿勢計測システムの構成図である。FIG. 1 is a configuration diagram of a three-dimensional underwater attitude measuring system for a linear towed body showing an embodiment of the present invention.
【図２】本発明の実施例を示す線状曳航体の水中姿勢計
測状態を示す図である。FIG. 2 is a diagram showing an underwater posture measurement state of a linear towed body showing an embodiment of the present invention.
【図３】本発明の実施例を示す線状曳航体の特定の受波
器の深度と音源との水平距離の計測の説明図である。FIG. 3 is an explanatory diagram of measurement of a depth of a specific wave receiver of a linear towed body and a horizontal distance to a sound source according to an embodiment of the present invention.
【図４】本発明の実施例を示す線状曳航体の３次元水中
姿勢計測の説明図である。FIG. 4 is an explanatory diagram of three-dimensional underwater posture measurement of a linear towed body showing an embodiment of the present invention.
１ 曳航船 ２ 線状曳航体 ３，３ａ 受波器 ４ トリガ電波受信用アンテナ ５ 受波部 ６ 入力部 ７ 表示部 ８ マニュアル・データ・入力装置（ＭＤＩ） １０ 処理部 １１ 中央処理装置 １２ メモリ １３，１４ インターフェース ２０ 音源船 ２１ トリガ電波送信用アンテナ ２２ 音源 ２２′ 音源の鏡像 ２３ 深度計 ２４ 発振器 ２５ 増幅器 ３１ 直接波 ３２ 反射波 1 Towing vessel 2 Wire-shaped towed body 3, 3a Wave receiver 4 Trigger radio wave receiving antenna 5 Wave receiving unit 6 Input unit 7 Display unit 8 Manual data input device (MDI) 10 Processing unit 11 Central processing unit 12 Memory 13 , 14 Interface 20 Sound source ship 21 Trigger radio wave transmitting antenna 22 Sound source 22 'Mirror image of sound source 23 Depth meter 24 Oscillator 25 Amplifier 31 Direct wave 32 Reflected wave
Claims (1)
元水中姿勢計測装置において、（ａ）海中に設けられる
音源と、（ｂ）該音源の深度を計測する深度計と、
（ｃ）線状曳航体に配設される複数の受波器とを具備
し、（ｄ）前記音源からのパルス音の直接波及び海面か
らの反射波を前記線状曳航体の各受波器により受波する
ことで前記音源と線状曳航体の各受波器間及び線状曳航
体の隣接する受波器間の水平距離及び各受波器の深度を
測定し、線状曳航体の水中姿勢を３次元的に計測するこ
とを特徴とする線状曳航体の３次元水中姿勢計測装置。1. A linear towed three-dimensional underwater attitude measuring device having a plurality of wave receivers; (a) a sound source provided in the sea; and (b) a depth gauge for measuring the depth of the sound source.
(C) a plurality of wave receivers arranged on the linear towed body, and (d) a direct wave of a pulse sound from the sound source and a reflected wave from the sea surface of each of the linear towed bodies. The horizontal distance between the sound source and each wave receiver of the linear towed body and the distance between the adjacent wave receivers of the linear towed body and the depth of each wave receiver are measured by receiving the wave by the wave receiver. A three-dimensional underwater posture measuring device for a linear towed vehicle, which is capable of three-dimensionally measuring the underwater posture.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6125303A JP2605218B2 (en) | 1994-06-07 | 1994-06-07 | 3D underwater attitude measurement system for linear towed bodies |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6125303A JP2605218B2 (en) | 1994-06-07 | 1994-06-07 | 3D underwater attitude measurement system for linear towed bodies |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH07333318A true JPH07333318A (en) | 1995-12-22 |
| JP2605218B2 JP2605218B2 (en) | 1997-04-30 |
Family
ID=14906756
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP6125303A Expired - Lifetime JP2605218B2 (en) | 1994-06-07 | 1994-06-07 | 3D underwater attitude measurement system for linear towed bodies |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2605218B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2015090284A (en) * | 2013-11-05 | 2015-05-11 | Ｎｅｃエンジニアリング株式会社 | Calibration device, calibration method and calibration program |
-
1994
- 1994-06-07 JP JP6125303A patent/JP2605218B2/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2015090284A (en) * | 2013-11-05 | 2015-05-11 | Ｎｅｃエンジニアリング株式会社 | Calibration device, calibration method and calibration program |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2605218B2 (en) | 1997-04-30 |
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