JPH08114664A - Radio sonobuoy position detecting system - Google Patents

Abstract

PURPOSE: To provide a low-cost radio sonobuoy position detecting system which can accurately detect the position of a radio sonobuoy in a moving body in a short time. CONSTITUTION: A reference position transmitting buoy transmits a signal with its own position as a reference position. A moving body demodulates the reference position from the received signal with a reception demodulator 24. A radio wave arrival angle detector 23 detects the bearing of the buoy observed from the body at the two positions of the body from the received signal, specify the position of the buoy by using a trigonometrical survey principle based on the bearing of the buoy at the two positions by an orientation processor 26. A position correction data forming unit 25 forms position correction data representing the error between the specified position of the buoy and the demodulated reference position. The radio wave from the sonobuoy is similarly processed by the detector 23 and the processor 26 to specify the position of the sonobuoy, which is corrected by position correction data by a position correcting unit 27.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a sonobuoy position detecting system for detecting the position of a sonobuoy in a moving body.

[0002]

2. Description of the Related Art In a conventional sonobuoy position detecting system, as shown in FIG. 7, a radio wave is transmitted from a moving body 100 such as an aircraft as a sonobuoy position evaluation signal, and the radio wave is transmitted.
Was received at and sent to the mobile again at 100. FIG. 8 shows a sonobuoy position evaluation device 102 provided in the moving body 100, and FIG. 9 shows a sonobuoy device 103 provided in the sonobuoy 101.

In FIG. 8, a sonobuoy position evaluating device 102 mounted on a moving body 100 is a timepiece 81 which functions as a time information generating device for generating current time information, and time information at the time of transmission from the clock 81. A modulation transmitting unit 82 that takes in as information and superimposes the transmission time information on the radio wave as transmission radio waves to the sonobuoy 101 via the duplexer 83 and the antenna 84.

In FIG. 9, a sonobuoy device 103 provided in a sonobuoy 101 receives the transmission radio wave as a reception radio wave separately from a device for transmitting a sonobuoy signal (sonobuoy signal transmitter 91 and antenna 92) and receives the reception radio wave. A device that transmits radio waves to the mobile unit 100 again (antenna 93,
Duplexer 94, sonobuoy position assessment signal receiver 9
5 and a sonobuoy position evaluation signal transmitter 96).

In FIG. 8, the sonobuoy position evaluating device 102 of the moving body 100 uses the radio wave returned from the sonobuoy 101 as a received radio wave, and the antenna 84 and the duplexer 8
3, the reception demodulation unit 85 that demodulates the transmission time information, and the time information at the time when the transmission time information is received from the reception demodulation unit 85 is fetched from the clock 81 as the reception time information, and the reception time information is received. Based on the propagation time detection unit 86 that outputs the difference between the information and the transmission time information as a sonobuoy-radio wave propagation time between moving objects and the sonobuoy-radio wave propagation time between moving objects, the sonobuoy position is evaluated as follows. The evaluation processing unit 87 is further included.

That is, the rating processing unit 87, as shown in FIG.
The difference between the timing when the radio wave is transmitted from the moving body 100 and the timing when the radio wave is returned from the sonobuoy 101 is 2 × A (s
ec) (when the moving body 100 is at point a) and 2 × B (se
c) (when the moving body 100 is at point b) to Sonobui 101
And the distance Ad between the moving body 100 and (Ad = A × light speed) and Bd
By detecting (Bd = B × speed of light) and performing it at two or more places (points a and b in FIG. 7), from the distance to the sonobuoy 101 at each point and the relationship between the points, The position of the Sonobuoy 101 was evaluated by the well-known triangulation principle.

In another conventional sonobuoy position detection method, the position of the sonobuoy 101 is evaluated as shown in FIG.
As shown in FIG. 11, the signal transmitted from the sonobuoy 101 is transmitted to the sonobuoy position evaluation device 1 mounted on the moving body 100.
02, a plurality of antennas 111 and 112 mounted at a distance d (m) on the moving body 100 ′ are used for reception, and the phase difference τ between the antennas 111 and 112 is received.
By detecting (sec) by the radio wave arrival angle detection unit 113, the arrival direction θ (rad) is detected as the sonobuoy radio wave arrival direction, and at that time, together with the body posture and position of the moving body,
Multiple times (N of points P (1) to P (N) in FIG. 10)
Time) data is acquired, and the sonobuoy position is evaluated by the evaluation processing unit 114 by the same principle of triangulation, or the sonobuoy position is evaluated by performing appropriate signal processing such as a Kalman filter in the evaluation processing unit 114.

Still another conventional sonobuoy position detecting method is, as shown in FIG. 12, a plurality of GPS (Global P) in the sonobuoy 101 (three in the illustrated example).
Positioning System) The GPS signal from the satellite 104 can be received. Therefore, as shown in FIG. 13, the sonobuoy device 103 is
A GPS signal receiving unit 142 that receives the GPS signal from the GPS satellite 104 via the GPS signal receiving antenna 141 and outputs the position data of the Sonobuoy 101 as the Sonobuoy position information is provided, and the information superposing unit 143 converts the Sonobuoy acoustic signal to the Sonobuoy acoustic signal. The position information is superimposed, and this is transmitted to the modulation transmission unit 1
At 44, a sonobuoy signal is transmitted to the moving body 100 via the sonobuoy signal transmitting antenna 145. Moving body 100
Then, as shown in FIG. 14, in the sonobuoy position evaluation device 102 mounted on the mobile body 100 ′, the sonobuoy signal is received by the reception demodulation unit 132 via the antenna 131, and the sonobuoy position information and the sonobuoy acoustic signal are received. The position of the sonobuoy 101 was detected by demodulating.

[0009]

SUMMARY OF THE INVENTION However, FIGS.
In the method using the principle of triangulation like the method of FIG. 9 and the method of FIG. 10 and FIG. 12, the evaluation time of the position of the sonobuoy 101 is short, but the evaluation accuracy is very poor. Further, in a method using signal processing such as a Kalman filter like the method in FIGS. 10 and 12, it is necessary to acquire a large amount of arrival angle data of radio waves, and it takes a very long time to evaluate the accurate position of the sonobuoy 101. It took a while. Furthermore, FIGS.
The method of mounting the GPS device (that is, the GPS signal receiving unit 142) on each sonobuoy 101 like the method of 4 is very excellent in the evaluation time and the accuracy of the evaluation as compared with any of the above-mentioned methods, Since the GPS device is installed for each sonobuoy 101, the unit price of the sonobuoy 101 becomes very high. Since the sonobuoy 101 is generally disposable, the unit price of the sonobuoy 101 needs to be as low as possible.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a sonobuoy position detecting system capable of detecting the sonobuoy position in a short time with high accuracy and at low cost.

[0011]

According to the present invention, in a sonobuoy position detecting system for detecting the position of a sonobuoy in a moving body, a signal from a GPS satellite is received to detect its own position, and the detected self position is detected. A reference position transmitting buoy having a GPS device for transmitting a reference position signal representing a position as a reference position to the moving body is provided, and the moving body receives the reference position signal from the reference position transmitting buoy, and The reference position signal is demodulated from the reference position signal as a demodulation reference position, and the azimuth of the reference position transmission buoy viewed from the mobile body is based on the reference position signal received from the reference position transmission buoy. At two positions of
Based on the detected azimuths of the reference position transmission buoys at the two positions, the position of the reference position transmission buoy is evaluated using the principle of triangulation, and the evaluation position of the reference position transmission buoy and the evaluation position The mobile unit has a function of creating position correction data that represents an error from the demodulation reference position, and the mobile unit further includes the azimuth of the Sonobuoy viewed from the mobile unit based on a signal received from the sonobuoy. The position of the sonobuoy is evaluated by using the principle of triangulation based on the orientation of the sonobuoy at the two other positions detected, and the evaluated position of the sonobuoy is calculated as described above. A sonobuoy position detection method is obtained which has a function of correcting with position correction data and outputting the corrected position as the position of the sonobuoy.

Further, according to the present invention, in the sonobuoy position detecting system for detecting the position of the sonobuoy in the moving body,
It receives signals from GPS satellites to detect its position,
A reference position transmission buoy having a GPS device for transmitting a reference position signal representing the detected own position as a reference position to the moving body is provided, and the moving body receives the reference position signal from the reference position transmission buoy. Reception demodulation means for receiving and demodulating the reference position signal from the reference position signal as a demodulation reference position; the reference position received from the reference position transmission buoy for the azimuth of the reference position transmission buoy viewed from the mobile body Radio wave arrival angle detection means for detecting at two positions of the moving body based on a signal; and triangulation based on the azimuths of the reference position transmission buoys at the two positions detected by the radio wave arrival angle detection means. And a rating processing means for rating the position of the reference position transmitting buoy using the above principle and outputting the rated position of the reference position transmitting buoy; Position correction data creating means for creating position correction data representing an error between a position and the demodulation reference position; and position correction means; and the radio wave arrival angle detection means further includes the position as seen from the moving body. Based on the signal received from this sonobuoy, the direction of sonobuoy
The evaluation processing means further uses the principle of triangulation based on the azimuths of the sonobuoys at the other two positions detected by the radio wave arrival angle detection means. The position of the sonobuoy is evaluated, and the evaluated position of the sonobuoy is output, and the position correction means corrects the evaluated position of the sonobuoy with the position correction data, and outputs the corrected position as the position of the sonobuoy. A sonobuoy position detecting method is obtained.

According to the present invention, in the sonobuoy position detecting system for detecting the position of the sonobuoy in the moving body,
It receives signals from GPS satellites to detect its position,
A reference position transmission buoy having a GPS device for transmitting a reference position signal representing the detected own position as a reference position to the moving body is provided, and the moving body receives the reference position signal from the reference position transmission buoy. Receiving, demodulating the reference position signal from the reference position as a demodulation reference position, the distance between the moving body and the reference position transmitting buoy, based on the reference position signal received from the reference position transmitting buoy The two detected by detecting at two positions of the moving body.
Based on the distance between the moving body and the reference position transmitting buoy at one position, the position of the reference position transmitting buoy is evaluated using the principle of triangulation, and the evaluated position of the reference position transmitting buoy and the It has a function of creating position correction data that represents an error from the demodulation reference position, and the moving body further includes the distance between the moving body and the sonobuoy based on a signal received from the sonobuoy. The position of the sonobuoy is evaluated using the principle of triangulation based on the distance between the moving body and the sonobuoy detected at the other two positions, and the sonobuoy position of the sonobuoy is detected. A sonobuoy position detecting method is provided, which has a function of correcting the rated position with the position correction data and outputting the corrected position as the position of the sonobuoy.

[0014]

In the above-described structure of the present invention, the sonobuoy position is evaluated using the principle of triangulation, so the evaluation time is short. Further, the evaluation accuracy is very high because it is corrected by the position information of the reference position transmitting buoy equipped with the GPS device. Further, since the GPS device is mounted only on the reference position transmitting buoy, the unit price of the sonobuoy can be made inexpensively as it is, and the entire system can be constructed inexpensively.

[0015]

Next, an embodiment of the present invention will be described with reference to the drawings.

Referring to FIG. 1, the sonobuoy position detecting method according to the first embodiment of the present invention detects the position of a sonobuoy 101 in a moving body 100. In this sonobuoy position detection method, a reference having a GPS device that receives a signal from a GPS satellite 104 to detect its own position and transmits a reference position signal representing the detected own position as a reference position to the moving body 100. Buoy 105 for position transmission
Is provided. The reference position transmission buoy 105 is shown in FIG.
The mobile body 100 includes the sonobuoy position evaluating device 102 shown in FIG.

Referring to FIG. 2, reference position transmitting buoy 10 is shown.
5 (FIG. 1) has a GPS signal receiving antenna 31 for receiving signals from a plurality of GPS satellites 104 (FIG. 1) in the satellite orbits of the earth at the same time.
It is input to the GPS signal receiving unit 32. GPS signal receiver 3
In 2, the signal from the GPS satellite 104 is demodulated, the position of the buoy 105 for transmitting the reference position is obtained as reference position information, and the reference position information is output to the modulator 33. Modulator 33
, The reference position information is modulated, and the transmitting unit 34 converts and amplifies into an appropriate frequency, and the transmitting antenna 35
It transmits to the mobile body 100 (FIG. 1).

With reference to FIG. 3, a sonobuoy position evaluating device 102 provided in a moving body 100 'of the moving body 100 (FIG. 1) receives a reference position signal from a reference position transmitting buoy 105 (FIG. 1). A reception demodulator 24 that receives via one of the plurality of antennas 21 and 22 and demodulates the reference position signal from the reference position as a demodulation reference position;
The azimuth of the reference position transmitting buoy 105 viewed from 0 is determined based on the reference position signal received from the reference position transmitting buoy 105 via the plurality of antennas 21 and 22. And P2 point), and the reference position transmission buoy 1 at the two positions detected by the radio wave arrival angle detection unit 23.
Based on the azimuth of 05, the position of the reference position transmitting buoy 105 is evaluated using the principle of triangulation, and the reference position transmitting buoy 1
The rating processing unit 26 that outputs the rating position 05 and the position correction data creation unit 2 that creates the position correction data that represents the error between the rating position of the reference position transmitting buoy 105 and the demodulation reference position.
5 and the position correction unit 27.

The radio wave arrival angle detector 23 is further provided for the mobile unit 1.
00 from the direction of the sonobuoy 101 (FIG. 1) based on the signal received from the sonobuoy 101, two other positions of the moving body 100 (these positions are also P for simplification of FIG. 1).
1 point and P2 point).
The rating processing unit 26 further includes the sonobuoy 10 at the two other positions detected by the radio wave arrival angle detection unit 23.
Based on the azimuth of 1, Sonobui 10 using the principle of triangulation
The position of 1 is evaluated and the evaluated position of the sonobuoy 101 is output. The position correction unit 27 corrects the rated position of the sonobuoy 101 with the position correction data, and outputs the corrected position as the sonobuoy position.

Specifically, the sonobuoy position evaluating device 102 transmits the radio wave transmitted from the reference position transmitting buoy 105,
The antennas 21 and 22 attached to the mobile body 1007 of the mobile body 100, which are appropriately separated from each other, receive the signals, and the radio wave arrival angle detection unit 23 receives the distance d between the antennas.
The arrival direction θ (rad) of the radio wave is obtained from the phase difference τ (sec) of the received signal between (m) and the antenna, and the evaluation processing unit 26
Output to. In the rating processing unit 26, as shown in FIG. 1, the reference position transmitting buoy 10 at the points P1 and P2 is transmitted.
From the directions DR1 and DR2 of 5, the position of the reference position transmitting buoy 105 is evaluated using the principle of triangulation, and is output to the position correction data creation unit 25. At the same time, the received signal from the reference position transmission buoy 105 is demodulated in the reception demodulation unit 24, and the position of the reference position transmission buoy 105 obtained by the GPS device 106 (FIG. 2) is output to the position correction data creation unit 25. To do. In the position correction data creation unit 25, the position evaluation result by the above-described triangulation and the GPS device 1
The position according to 06 is compared, the error due to the position evaluation is detected, and stored as position correction data.

Next, the signal from the sonobuoy 101 is received in the same manner, the position is evaluated by the evaluation processing unit 26, and the result is output to the position correction unit 27. In the position correction unit 27, the position evaluation result of the sonobuoy 101 is corrected by the stored position correction data, and the position of the sonobuoy 101 is output.

Next, referring to FIG. 4, a sonobuoy position detecting method according to the second embodiment of the present invention will be briefly described.

Even in this sonobuoy position detecting system, G
A reference position transmitting buoy 105 having a GPS device for receiving a signal from the PS satellite 104 to detect its own position and transmitting a reference position signal representing the detected own position as a reference position to the moving body 100 is provided. ing.

The moving body 100 includes a buoy 10 for transmitting a reference position.
5 is received, the reference position is demodulated from the reference position signal as a demodulation reference position, and the distance between the moving body 100 and the reference position transmitting buoy 105 is determined by the reference position received from the reference position transmitting buoy 105. Based on the signal, it is detected at two positions of the moving body 100 (points a and b in FIG. 4), and based on the distance between the moving body 100 and the reference position transmitting buoy 105 at the detected two positions, It has a function of evaluating the position of the reference position transmitting buoy 105 by using the principle of triangulation and creating position correction data representing the error between the evaluated position of the reference position transmitting buoy 105 and the demodulation reference position.
The round trip time of a signal transmitted from the mobile unit 100, passed through the reference position transmission buoy 105, and received by the reference position transmission buoy 105 is 2A at point a as shown in the figure.
If 0 (sec) and 2B0 (sec) at the point b, the distance between the moving body 100 and the reference position transmitting buoy 105 is represented by A0 × light speed at the point a and B0 × light speed at the point b.

The moving body 100 further determines the distance between the moving body 100 and the sonobuoy 101 based on the signal received from the sonobuoy 101 at two other positions (these positions are also simplified in FIG. 4). For the sake of conversion, the points are a and b)
In accordance with the principle of triangulation, the position of the sonobuoy 101 is evaluated based on the distance between the moving body 100 and the sonobuoy 101 at the other two positions that are detected, and the evaluation position of the sonobuoy 101 is calculated as described above. It has a function of correcting with position correction data and outputting the corrected position as the position of the sonobuoy 101. Assuming that the round trip time of the signal transmitted from the mobile unit 100, passing through the Sonobuoy 101, and being received by the Sonobuoy 101 is 2A1 (sec) at the point a and 2B1 (sec) at the point b, as shown in FIG. The distance between the body 100 and the sonobuoy 101 is represented by A1 × light speed at point a and B1 × light speed at point b.

Next, with reference to FIGS. 5 and 6 in addition to FIG. 4, the sonobuoy position detecting method according to the second embodiment will be described in detail. The reference position transmitting buoy 105 includes the GPS device shown in FIG. 5, and the moving body 100 includes the sonobuoy position evaluating device 102 shown in FIG.

In FIG. 6, the sonobuoy position evaluating device 102 mounted on the moving body 100 has a timepiece 51 which functions as a time generating device for generating current time information. The modulation transmitting unit 52 takes in time information at the time of transmission as transmission time information from the clock 1, modulates, frequency-converts, and amplifies this transmission time information, and transmits it from the antenna 54 via the duplexer 53.

In FIG. 5, the reference position transmitting buoy 105 is shown.
The GPS device 106 mounted on the GPS signal receiving antenna 61 simultaneously receives signals from a plurality of GPS satellites 104 in the satellite orbits of the earth and inputs them to the GPS signal receiving unit 62. In the GPS signal receiving unit 62, the GP
The signal from the S satellite 104 is demodulated, the position information of the reference position transmitting buoy 105 (that is, the reference position information) is obtained, and output to the information superimposing unit 66. At the same time, the transmission / reception antenna 63 receives the signal obtained by modulating the transmission time information from the mobile unit 100, and inputs the signal to the reception demodulation unit 65 via the duplexer 64. The reception demodulation unit 65 temporarily demodulates the transmission time information, and the information superposition unit 66 calculates the above-mentioned GPS.
The position information of the reference position transmitting buoy 105 (i.e., the reference position information) is superimposed on the transmission time information and output to the re-modulation transmitting unit 67. In the re-modulation transmission unit 67, the signal is re-modulated, converted into an appropriate frequency, amplified, and transmitted from the transmission / reception antenna 63 to the mobile unit 100 via the duplexer 64.
Sent to.

In FIG. 6, in the sonobuoy position evaluating device 102 mounted on the moving body 100, the radio wave transmitted from the GPS device 106 of the reference position transmitting buoy 105 is received by the antenna 54 and is transmitted via the duplexer 53. It is input to the reception demodulator 55. The reception demodulation unit 55 demodulates the transmission time information and the reference position transmission buoy position information (that is, reference position information) by GPS, and the transmission time information is transmitted to the propagation time detection unit 57 and the reference position transmission buoy position information (that is, reference position information). , Reference position information) is output to the position correction data creation unit 56. In the propagation time detecting unit 57, the time information at which the transmission time information is received is fetched from the clock 51 as the reception time information, the radio wave is transmitted from the mobile body 100 to the reference position transmission buoy 105, and the reference position transmission buoy 105 is again transmitted. Is detected and the speed of the radio wave is almost equal to the speed of light, the distance between the moving body 100 and the reference position sending buoy 105 is calculated and output to the rating processing unit 58. In the rating processing unit 58, as shown in FIG. 4, the principle of triangulation is calculated from the distance (A0 × light speed) and (B0 × light speed) between the reference position sending buoy 105 and the moving body 100 at points a and b. The position of the reference position sending buoy 105 is evaluated by using it and output to the position correction data creating unit 56. In the position correction data creation unit 56, the position evaluation result by the above-mentioned triangulation is compared with the reference position sending buoy position information by GPS (that is, reference position information),
The error due to the position evaluation is detected, and as position correction data,
Remember.

Next, the signal from the sonobuoy 101 is similarly received, the position is evaluated by the evaluation processing unit 58, and the result is output to the position correction unit 59. In the position correction part 59, the position evaluation result of the sonobuoy 101 is calculated by the position correction data creation part 56.
The position of the sonobuoy 101 is corrected as the sonobuoy position and the position of the sonobuoy 101 is output.

[0031]

As described above, according to the present invention, a sonobuoy position detecting method capable of evaluating the position of the sonobuoy existing on the sea at high speed and with high accuracy while receiving a sonobuoy signal from a moving body is constructed. it can.

Further, since the reference position sending buoy may be very small with respect to the number of sonobuoys, even if the number of sonobuoys is very large, the unit price of the entire sonobuoy position detecting system can be made inexpensive. it can.

[Brief description of drawings]

FIG. 1 is a conceptual diagram for explaining a sonobuoy position detection method according to a first embodiment of the present invention.

FIG. 2 is a block diagram of a GPS device provided in a reference position transmitting buoy 105 of the sonobuoy position detection system of FIG.

FIG. 3 is a block diagram of a sonobuoy position evaluation device provided in the sonobuoy position detection type moving body 100 of FIG. 1.

FIG. 4 is a conceptual diagram for explaining a sonobuoy position detecting method according to a second embodiment of the present invention.

5 is a block diagram of a GPS device provided in a reference position transmission buoy 105 of the sonobuoy position detection system of FIG.

FIG. 6 is a block diagram of a sonobuoy position evaluation device provided in the sonobuoy position detection type moving body 100 of FIG.

FIG. 7 is a conceptual diagram for explaining a conventional sonobuoy position detection method.

8 is a block diagram of a sonobuoy position evaluation device provided in the sonobuoy position detection type moving body 100 of FIG.

9 is a sonobuoy 101 of the sonobuoy position detection system of FIG.
FIG. 3 is a block diagram of a sonobuoy device provided in the computer.

FIG. 10 is a conceptual diagram for explaining another conventional sonobuoy position detection method.

FIG. 11 is a diagram showing a sonobuoy position detection type moving body 10 of FIG.
The block diagram of the sonobuoy position evaluation device with which 0 is equipped.

FIG. 12 is a conceptual diagram for explaining yet another conventional sonobuoy position detection method.

FIG. 13 is a sonobuoy 1 of the sonobuoy position detection system of FIG.
The block diagram of the apparatus for sonobuoy with which 01 is equipped.

FIG. 14 is a diagram showing a sonobuoy position detection type moving body 10 of FIG. 10;
The block diagram of the sonobuoy position evaluation device with which 0 is equipped.

[Explanation of symbols]

 100 moving body 100 'moving body main body 101 sonobuoy 102 sonobuoy position evaluation device 104 GPS satellite 105 reference position transmission buoy 106 GPS device 21 antenna 22 antenna 23 radio wave arrival angle detection part 24 reception demodulation part 25 position correction data creation part 26 evaluation processing Part 27 Position correction part 31 GPS signal receiving antenna 32 GPS signal receiving part 33 Modulating part 34 Transmitting part 35 Transmitting antenna

Claims (3)

[Claims] 1. A sonobuoy position detecting system for detecting the position of a sonobuoy in a mobile body, which receives a signal from a GPS satellite to detect its own position,
A reference position transmission buoy having a GPS device that transmits a reference position signal representing the detected position of itself as a reference position to the moving body is provided, and the moving body receives the reference position signal from the reference position transmission buoy. The reference position signal is received and demodulated from the reference position signal by using the reference position as a demodulation reference position, and the azimuth of the reference position transmission buoy viewed from the mobile is based on the reference position signal received from the reference position transmission buoy. Then, the position of the reference position transmitting buoy is evaluated by using the principle of triangulation based on the azimuths of the reference position transmitting buoys detected at the two positions of the moving body. ,
It has a function of creating position correction data representing an error between the rated position of the reference position transmitting buoy and the demodulation reference position, and the moving body further has an azimuth of the sonobuoy viewed from the moving body. The position of the sonobuoy is detected at another two positions of the moving body based on the signal received from the sonobuoy, and based on the orientation of the sonobuoy at the other two detected positions, using the principle of triangulation. A sonobuoy position detecting method, which has a function of correcting the evaluated position of the sonobuoy with the position correction data and outputting the corrected position as the position of the sonobuoy. 2. A sonobuoy position detecting method for detecting the position of a sonobuoy in a mobile body, which receives a signal from a GPS satellite to detect its own position,
A reference position transmission buoy having a GPS device that transmits a reference position signal representing the detected position of itself to the moving body is provided, and the moving body receives the reference position signal from the reference position transmitting buoy. Reception demodulation means for receiving and demodulating the reference position signal from the reference position signal as a demodulation reference position; the reference position received from the reference position transmission buoy for the azimuth of the reference position transmission buoy viewed from the mobile body Radio wave arrival angle detection means for detecting at two positions of the moving body based on a signal; and triangulation based on the azimuths of the reference position transmission buoys at the two positions detected by the radio wave arrival angle detection means. And a rating processing means for rating the position of the reference position transmitting buoy using the principle of (1) and outputting the rated position of the reference position transmitting buoy; Position correction data creating means for creating position correction data representing an error between a fixed position and the demodulation reference position; and position correcting means; and the radio wave arrival angle detecting means is further viewed from the moving body. The azimuth of the sonobuoy is detected at two other positions of the moving body based on a signal received from the sonobuoy, and the evaluation processing means further includes the other one detected by the radio wave arrival angle detection means. Based on the azimuth of the sonobuoy at the two positions, the position of the sonobuoy is evaluated by using the principle of triangulation, and the evaluated position of the sonobuoy is output, and the position correcting means evaluates the sonobuoy. A sonobuoy position detection method, wherein a position is corrected by the position correction data, and the corrected position is output as the position of the sonobuoy. 3. A sonobuoy position detecting method for detecting the position of a sonobuoy in a mobile body, which receives a signal from a GPS satellite to detect its own position,
A reference position transmission buoy having a GPS device that transmits a reference position signal representing the detected position of itself as a reference position to the moving body is provided, and the moving body receives the reference position signal from the reference position transmission buoy. Receiving, demodulating the reference position signal from the reference position as a demodulation reference position, the distance between the moving body and the reference position transmitting buoy, based on the reference position signal received from the reference position transmitting buoy Detecting at two positions of the moving body, based on the distance between the moving body and the reference position transmitting buoy at the detected two positions,
Evaluating the position of the reference position transmission buoy using the principle of triangulation, having a function of creating position correction data representing the error between the evaluation position of the reference position transmission buoy and the demodulation reference position, The moving body further detects the distance between the moving body and the sonobuoy at another two positions of the moving body based on a signal received from the sonobuoy, and the distance at the other two positions detected. Based on the distance between the moving body and the sonobuoy, the position of the sonobuoy is evaluated using the principle of triangulation, the evaluated position of the sonobuoy is corrected by the position correction data, and the corrected position is the sonobuoy position. A sonobuoy position detection method characterized by having a function of outputting as.