JPH09145822A - Flying movement body position measuring device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable continuous measurement by measuring the distances of the three-dimensional position in a designated space of a movement body from plural points using generated acoustic wave pulses. SOLUTION: Acoustic wave pulses from an acoustic wave generator 23 are received by eight microphones 11a-11h, the received signals are amplified, and the propagation delay time can be measured by a distance measuring part 13. The propagation delay time can be converted to the distance data from a movement body 2 to the microphone 11 by a distance converting circuit. An arithmetic processing part 14 extracts the space distance data of two microphones 11b, 11c of a group Y of shorter space distances from the movement body 2 and one microphone 11a of a group X, computes the three- dimensional position of the mover from the predetermined three-dimensional axis of coordinates from the known distance data between the previously measured vertical lines of the microphones 11a, 11b, 11c and the respective heights of the microphones 11a, 11b, 11c from the ground surface, and the arithmetic result is displayed on a display part 18.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an aerial vehicle position measuring device capable of continuously or intermittently measuring the three-dimensional position of a vehicle moving in the air within a predetermined space at desired time intervals. It is about.

[0002]

2. Description of the Related Art In indoor and outdoor aerial environment investigations, for example, investigations of temperature, humidity, wind speed, carbon dioxide concentration, ozone concentration, etc., it is essential to understand the causal relationship between measurement data and measurement points. The conventional aerial environment survey measurement is generally a fixed point observation performed by installing a sensor corresponding to an environmental measurement item at a predetermined aerial position. This may be due to a very complicated method when measuring the aerial position of a sensor as a moving body moving in the air, or due to problems such as disturbing the environment using a large-scale device. .

[0003]

However, in the aerial environment survey measurement, there is a demand not only for fixed point observation but also for continuous measurement by a sensor moving in the air within a certain predetermined space. The advent of a measuring device capable of continuously measuring the three-dimensional position of a sensor (moving body) moving in the air has been desired. The present invention provides an aerial vehicle position measuring device capable of accommodating arbitrary aerial environment measurement in such aerial environment survey.

[0004]

SUMMARY OF THE INVENTION An airborne moving body position measuring apparatus of the present invention comprises a sound wave generator comprising a high voltage air gap discharger provided in a moving body which moves within a predetermined space, and a plurality of acoustic wave generators in the predetermined space. On the same horizontal plane and on multiple vertical lines, and 2 on the same horizontal plane and 2 on the same vertical line, respectively.
And at least three wave receivers arranged so as to allow the existence of three or less waves, and the sound wave generator is activated to generate a sound wave pulse. A distance measuring unit that measures each propagation time until receiving the wave and obtains a spatial distance between the sound wave generator and each of the wave receivers from each propagation time, and each of the distances calculated by the distance measuring unit. The spatial distances between the wave receiver and the sound wave generator, the distances between the vertical lines on which the at least three wave receivers are located, and the distance from the reference plane predetermined for the predetermined space. A calculation processing unit that calculates three-dimensional coordinate information of the sound wave generator in the predetermined space based on the heights of at least three wave receivers, and the three-dimensional position of the moving body in the predetermined space. From the high voltage air gap discharger at desired time intervals. Use sound pulse being, those determined by measuring the distance from three points.

[0005]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a block circuit diagram showing an embodiment of an aerial vehicle position measuring device according to the present invention.
In FIG. 1, reference numeral 1 denotes a measurement unit, which is a microphone 11a, 1
1b, 11c ... 11h, receiving amplifier 12, distance measuring unit 1
3, Comprising an arithmetic processing unit 14, a synchronization signal transmitter 15, a transmission antenna 16, a power supply unit 17, a display unit 18, a printer 19, and a storage medium 20. Reference numeral 2 denotes a moving body, which includes a receiving antenna 21, a synchronizing signal receiver 22, a sound wave generator 23 including a high voltage generating circuit (drive amplifier) 231, and a discharger 232, and a DC power supply 24. FIG.
1 is a circuit diagram of a sound wave generator 23 including a high voltage generation circuit (drive amplifier) 231 of a moving body 2 and a discharger 232.
The transistor Tr is turned on by the start signal received by the thyristor SCR, and the capacitor C is turned on.
The first discharge circuit is formed, a high voltage is applied to the discharger 232 through the transformer T to cause a gap discharge, and the sound wave pulse generated during this discharge is used.

FIG. 3 is a block circuit diagram showing an example of a circuit for measuring the propagation time of the sound wave pulse corresponding to the distance of the distance measuring unit 13, 131 is a clock pulse generating circuit, and 13 is a clock pulse generating circuit.
2 is a flip-flop circuit, 133 is a gate circuit, 13
Reference numeral 4 is a pulse counter circuit, and 135 is a distance conversion circuit. FIG. 4 shows microphones 11a, 11b, 11c ... 11 as wave receivers connected to the moving body 2 and the measuring unit 1 when measuring the position of the moving body in the air in a predetermined space.
It is a schematic diagram which shows an example of the arrangement state of h, FIG.4 (a) is a top view and FIG.4 (b) is a side view. As is clear from FIGS. 4A and 4B, each of the eight microphones is provided at a predetermined position on the periphery of the predetermined space, that is, at a different vertical line position, and the microphones 11b, The six Y groups 11c, 11d, 11f, 11g and 11h are provided at the same low height, and the two X groups of the microphones 11a and 11e are provided at the same high height, that is, the microphones of the two groups Y and X. Are installed on separate horizontal planes.

In measuring the three-dimensional position of the mobile unit 2, the mobile unit 2 out of the six microphones in the group Y is used.
Two microphones (11b, 11
c) and one microphone (11a) having a short spatial distance from the moving body 2 among the two microphones of the group X, a total of three microphones are used for measurement. The position of the reference three-dimensional coordinate axis for measuring the three-dimensional position of the moving body 2 is, for example, the point P, as will be described later.
The distances for the x-axis, the y-axis, and the z-axis are obtained. In addition, the moving body 2 is, for example, a support device 2 installed so as to be able to move up and down on a carriage 25 that moves on the ground in a track orbit.
The mobile body 2 is mounted on the vehicle 6 and is provided integrally with various sensors necessary for the aerial environment investigation, for example.

Next, the operation of measuring the three-dimensional position of the moving body 2 will be described with reference to FIGS. The control signal from the distance measuring unit 13 of the measuring unit 1 activates the synchronization signal transmitter 15 to transmit a start signal from the transmitting antenna 16 to the mobile unit 2. The start signal is received by the receiving antenna 21 of the mobile unit 2.
The signal is received by the synchronization signal receiver 22 via, and the activation signal is given to the high voltage generation circuit 231. High voltage generation circuit 23
In No. 1, the voltage accumulated in the capacitor C1 by the above-described operation is applied to the discharger 232 via the transformer T to perform the discharge operation. That is, a sound wave pulse based on the discharge action is generated from the sound wave generator 23 as a high voltage air gap discharger including the high voltage generation circuit 231 and the discharger 232.
Since this sound wave pulse is a sound wave pulse generated by a discharge action, it has an omnidirectional property as a sound source. Therefore, sound wave pulses having substantially equal sound pressure levels are transmitted to the plurality of microphones 11a to 11h.

The sound wave pulse from the sound wave generator 23 is
The signals are received by the eight microphones 11a to 11h, amplified by the reception amplifier 12, and sent to the distance measuring unit 13. The distance measuring unit 13 measures the propagation time from the transmission of the control signal for generating the activation signal to the reception of the sound wave pulse generated by the sound wave generator 23 by each of the microphones 11a to 11h. That is, as shown in FIG. 3, the clock pulse generation circuit 131 constantly generates the clock pulse (a), and the flip-flop is generated by the trigger pulse (b) which is synchronized with the activation signal for operating the discharger 232. When the circuit 132 is operated and the gate circuit 133 is opened, the pulse counter circuit 134 starts counting clock pulses (a). When the sound wave pulse of the discharger 232 is received by each of the microphones 11a to 11h, the received pulse (c) causes the flip-flop circuit 132 to operate again, closing the gate circuit 133 and ending the counting. Therefore, the pulse counter circuit 134
The pulse number of the clock pulse (a) counted in 1 corresponds to the propagation time of the sound wave pulse, and this propagation time is from the moving body 2 provided with the discharger 232 to the microphone 11 in the distance conversion circuit 135. Converted as distance data.

The moving body 2 measured by the distance measuring unit 13
And spatial distance data between each of the microphones 11a to 11h are sent to the arithmetic processing unit 14 as digital data, and the two microphones 11b and 11c of the group Y having a short spatial distance from the moving body 2 and the one microphone of the group X. The spatial distance data of 11a is extracted. Then, the three measured spatial distance data, the previously-measured known distance data between the vertical lines of the microphones 11a, 11b, and 11c, and the microphones 11a and 11c.
A calculation processing unit 14 calculates a three-dimensional position of the moving body 2 from a predetermined three-dimensional coordinate axis based on the heights of b and 11c from the ground, and displays the calculation result on the display unit 18. Is.

The sound wave pulse generated by the sound wave generator 23 by the discharger 232 or the like according to the present invention has an excellent rising characteristic as shown in FIG. 5 (a), and the conventional ultrasonic wave shown in FIG. 5 (b). It is superior to the rising characteristics of ultrasonic waves generated by an oscillator, reducing measurement errors and enabling highly accurate spatial distance measurement. When the three-dimensional position measurement is an aerial environment measurement, the calculation result is displayed together with aerial environment measurement data measured by various sensors (not shown) provided integrally with the moving body 2. It will be. Further, the calculation result of the three-dimensional position measurement of the moving body 2 is
For example, it may be recorded on a recording paper by the printer 19 together with the aerial environment measurement data, or may be stored in a storage medium 20 such as a magnetic tape.

In the microphone layout shown in FIG. 4 as an embodiment of the present invention, eight microphones 11a are provided.
Although ~ 11h is arranged in the peripheral portion of the predetermined space area, when the predetermined space is narrow, or when the microphone as the wave receiver is a high-bandwidth type microphone and has wide directivity, It is also possible to set the minimum number of microphones to three. Further, when the directivity of the microphone is not wide, by arranging the microphone outside the predetermined space region, even when the moving body 2 is located near the peripheral edge in the predetermined space, the sound wave pulse generated from the moving body 2 can be captured. You can get it.

The microphones according to the present invention may be arranged in various ways other than those shown in FIGS. 4A and 4B. For example, the plan view of FIG. 6A and the side surface of FIG. 6B are shown. It can also be arranged as shown in the figure. That is, the microphones 31a, 31b, 31c, ...
Of the microphones 31a, 31b, 31c, 31
The six microphones d, 31e, and 31f (Y group) are arranged in a horizontal plane position substantially the same as the ground surface.
Two g and 31h (X group) are arranged at the same predetermined height on the same vertical line as the microphones 31b and 31e, respectively. Since the moving body 2 whose position is to be measured is in the position shown in FIG. 6, the microphone 31 having a short distance to the moving body 2 is used.
It will be measured by three of a, 31b, and 31g. The position (height) of the z-axis of the moving body 2 is determined by the sound wave generator 23 (not shown) of the moving body 2 and the microphones 31b and 31g.
And the distance (height difference) between the microphones 31b and 31g.

The positions of the x-axis and y-axis of the moving body 2 are determined by the sound wave generator 23 (not shown) of the moving body 2 and the microphone 3.
1a and 31b and the microphone 31
It can be determined by the mutual distance between a and 31b. As shown in FIG. 6A, the microphones 31a and 3a
If 1b also has a deviation on the y-axis, the position of the moving body 2 can be obtained including the inclination angle with respect to the coordinate axis. Further, when it is necessary to measure the three-dimensional position of the moving body 2 more accurately, a large number of microphones such as eight microphones are arranged as shown in FIG. 4 or FIG.
And a group X, select a plurality of combinations from the three combinations,
Mobile unit 2 based on the measured distance data for each combination
It is also possible to measure the position of the moving body more accurately by performing the averaging process after obtaining the three-dimensional position of.

When the position of the moving body 2 is continuously measured, it depends on the size in the predetermined space, that is, the distance between the moving body 2 and the microphone 11, but it is 0.5 seconds or 1 second interval or that. Sound wave pulses can be generated and measured at the following intervals. This sound wave pulse has a frequency band from the audible frequency region to the ultrasonic wave region.
Favorable results have been obtained using frequency bands on the order of 20 KHz. Of course, since the sound velocity of a sound wave changes depending on the ambient temperature, it is necessary to perform temperature compensation for accurate position measurement.

[0016]

As described above, according to the present invention, the three-dimensional position of a moving body which moves continuously or intermittently in an arbitrary air in a predetermined space, which has not been conventionally measured by an appropriate measuring method, is provided by the present invention.
It is designed to be able to accurately measure following the movement.For example, it is possible to measure the measurement position at the same time as the measurement data in the aerial environment survey. This will make a great contribution to the three-dimensional position measurement of moving objects in the air.

[Brief description of the drawings]

FIG. 1 is a block circuit diagram showing an embodiment of an airborne vehicle position measuring device of the present invention.

FIG. 2 is a circuit diagram of an embodiment of a sound wave generator of a moving body according to the present invention.

FIG. 3 is a block circuit diagram of an embodiment of a distance measuring unit according to the present invention.

FIG. 4 is a schematic diagram showing an example of a position of an aerial mobile object in a predetermined area and an arrangement state of microphones for measuring the position of the mobile object in the present invention.

FIG. 5 is a waveform characteristic diagram for comparing the rising characteristics of the sound wave pulse generated by the sound wave generator of the present invention and the sound wave pulse generated by the sound wave generator of the conventional example.

FIG. 6 is a schematic diagram showing another example of the position of an aerial mobile object in a predetermined area and the arrangement state of microphones for measuring the position of the mobile object in the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 measuring part 2 mobile body 11,31 microphone 12 receiving amplifier 13 distance measuring part 131 clock pulse generating circuit 132 flip-flop circuit 133 gate circuit 134 pulse counter circuit 135 distance converting circuit 14 arithmetic processing part 15 synchronization signal transmitter 16 transmitting antenna 17 Power supply unit 18 Display unit 19 Printer 20 Storage medium 21 Reception antenna 22 Synchronous signal receiver 23 Sound wave generator 231 High voltage generation circuit 232 Discharger 24 DC power supply 25 Truck 26 Supporting device

 ─────────────────────────────────────────────────── ─── Continued front page (72) Inventor Toshinori Kimura 6-1529 Shimorenjaku, Mitaka City, Tokyo Electronic Industries Co., Ltd.

Claims (1)

[Claims] 1. A sound wave generator comprising a high-voltage air gap discharger provided in a moving body that moves in a predetermined space, and distributed on a plurality of horizontal planes and a plurality of vertical lines in the predetermined space, and On the same horizontal plane and on the same vertical line, at least three wave receivers arranged so as to allow the existence of two or less respectively, and the sound wave generator is activated to generate a sound wave pulse, and from the time of activation. A distance measuring unit that measures each propagation time until each of the wave receivers receives the sound wave pulse, and obtains respective spatial distances from the sound wave generator to the wave receivers. , The spatial distance between each of the wave receivers and the sound wave generator obtained by the distance measuring unit, the distance between the vertical lines on which the at least three wave receivers are located, and the predetermined space On the other hand, from the predetermined reference plane A calculation processing unit that calculates three-dimensional coordinate information of the sound wave generator in the predetermined space based on the heights of at least three wave receivers, and a three-dimensional position of the moving body in the predetermined space. An air vehicle position measuring device, characterized in that the position is determined by measuring the distances from three points, using sound wave pulses generated at desired time intervals from a high voltage air gap discharger.