JPH10300850A - Under-water position calculator and under-water position measuring device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To increase a positional data renewal rate for more transponders than usual in under-water position measurement. SOLUTION: An under-water position calculator is provided with plural signal transmitters 5, 6, 7 with different frequencies, a wave transmitter/receiver 1 transmitting/receiving ultrasonic waves with different frequencies and a wave receiver 23 receiving the ultrasonic waves with different frequencies similarly to the transmitter/receiver 1. Signal receivers 8, 9, 10 and 11, 12, 13 tied to the wave transmitter/receiver 1 and the wave receiver 23 are provided for every different frequency and timers 14, 15, 16 and 17, 18, 19 are provided corresponding to the signal receivers so that position calculation can be performed for every frequency with a position calculating circuit 22 at the same time.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transponder which transmits an ultrasonic pulse in response to receiving a predetermined ultrasonic pulse in water, and the transponder is attached to a target to be measured, and the distance between the transponders is measured. It belongs to the technical field of underwater position measurement in which a target position is measured by transmitting and receiving ultrasonic waves from two known points and measuring the time of the transmitted and received waves.

[0002]

2. Description of the Related Art An underwater position measuring device comprises an underwater position calculating device and a transponder attached to a target to be measured in water. The underwater position calculation device has a configuration as shown in FIG. The interval between the transmitter / receiver 40 and the receiver 45 is set to a known value. The transmitter 47 sends a pulse-like ultrasonic frequency signal including a code assigned to the transponder to the transducer 40. This signal is transmitted to the transducer 4
At 0, it is converted to ultrasonic waves and transmitted to the water.

On the other hand, a transponder has a configuration as shown in FIG. When the ultrasonic wave arrives, the ultrasonic wave is received by the transmitter / receiver 41, and the received signal is amplified and detected by the receiver 42 and then sent to the code detector 43. The code detection unit 43 determines whether the code in the signal is its own code, and if it is its own code, sends a trigger signal to the transmitter 44, activates the transmitter 44, and activates the An ultrasonic pulse signal of a certain frequency is sent to the transmitter / receiver 41 to be transmitted underwater.

When the ultrasonic pulse propagates in water, the transmitter / receiver 40 and the receiver 45 shown in FIG. 2 receive it. The received signal received by the transmitter / receiver 40 and converted into an electric signal is sent to a receiver 46, which amplifies and detects the signal and outputs a detection signal to a timer 48. The received signal received by the receiver 45 and converted into an electric signal is sent to a receiver 49, which amplifies and detects the signal and outputs a detection signal to a timer 50. The transmission timing signal is sent from the transmitter 47 to the timer 48 and the timer 50 simultaneously with the transmission. The timer 48 and the timer 50 start the timing operation when receiving the transmission timing signal, and stop the timing operation when the detection signal is input from the receiver, so that the timer 48 and the timer 50 stop receiving the detection signal from receiving the transmission timing signal to receiving the detection signal. Output a clock signal indicating the time of.

Now, assuming that the time measured by the timer 48 is t ₁ and the time measured by the timer 50 is t ₂ , t ₁
Is the sum of the time required for the ultrasonic pulse to propagate from the transducer 40 of FIG. 2 to the transducer 41 of the transponder (FIG. 3) and the time required for the ultrasonic pulse to propagate from the transducer 41 to the transducer 40. Receiver 42, code detection unit 43,
The sum of the small delay times Δt (this is a known and fixed value) in the transmitter 44 and the receiver 46 of the underwater position calculating device is added, and t ₂ is the time when the ultrasonic pulse is applied to the transmitter / receiver in FIG. From 40, the transducer 4 of the transponder (FIG. 3)
1 and the time required for transmission from the transmitter / receiver 41 to the receiver 45
This is the time obtained by adding Δt to the sum of the times of propagation to (FIG. 2).

Now, assuming that the transmitter / receiver 40, the receiver 45, and the transponder of the underwater position calculating device have a positional relationship as shown in FIG. 4, t ₁ is the time when the ultrasonic wave reciprocates the distance R _1. This means that Δt has been added. Distance R ₁
The time for the ultrasonic wave to reciprocate is 2R ₁ / C, where C is the underwater sound velocity of the ultrasonic wave, so the following equation 1 is established. Therefore, the distance R ₁ is obtained by the following equation (2).

[0007]

(Equation 1)

[0008]

(Equation 2)

Next, since t ₂ is obtained by adding Δt to the time for the ultrasonic wave to propagate through the distances R ₁ and R ₂ , t _2
2 is as shown in Equation 3. In addition, R ₂ is obtained from Expression 3 as in Expression 4.

[0010]

(Equation 3)

[0011]

## EQU4 ## R ₂ = (t ₂ −Δt) C−R ₁

By substituting R ₁ of Equation 2 for R ₁ on the right side of Equation 4, R ₂ is obtained by Equation 5.

[0013]

(Equation 5)

Thus, the transponder is located at a distance of R ₁ from the transducer 40, at a distance of R ₂ from the receiver 45, and the distance between the transducer 40 and the receiver 45 is Since it is a known L, the position of the transponder can be calculated from the values of the three sides of the triangle.

The time signals of the timer 48 and the timer 50 are input to a position calculating section 51, and are calculated together with L already set to calculate the position. The transponder is attached to an object whose position moves in water, and the current position of the moving object is measured. For example, it can be attached to a diver as an example of a use to grasp the current position in water and contribute to ensuring safety.

[0016]

However, since the frequency of the ultrasonic wave used in the conventional position measuring device is one, the position cannot be measured for a plurality of transponders at the same time. On the other hand, a sequential measurement is performed. At this time, the code assigned to each transponder is sequentially switched by the underwater position calculation device. This operation is performed once per second. Sound waves average 1500 m per second in water (water temperature 7
At ℃). If the effective distance is 500m, 100 round trips
A time of 0 m (0.666 seconds) is required. Then, the remaining time is used for the calculation.

If there are eight transponders, it takes eight seconds to call them all. If the transponder advances 1m per second, it will move 8m. If the data is taken within a maximum circle of 25 m, it will be in a state where the place is flying and the continuity of the data will be difficult to see. In addition, when data is actually used and measurement is performed, a missing data occurs.
Seconds later, a problem arises in that real-time data collection cannot be performed.

SUMMARY OF THE INVENTION In view of the above-mentioned problems of the prior art, it is an object of the present invention to operate a plurality of transponders at a plurality of transponders at the same time so that the position measurement can be performed at a shorter time interval than before. And to enable real-time data collection.

[0019]

In order to achieve the above object, an underwater position calculating apparatus according to the present invention has the following components. (A) A transmitter / receiver composed of a plurality of transducers whose transmission / reception frequencies are f ₁ , f ₂ ,..., F _n (where n is a natural number of 2 or more; the same applies hereinafter). A receiver composed of a plurality of transducers each of which is f ₁ , f ₂ ,..., F _n (c) The frequency is f ₁ ,
a _first , _second ,..., _n-th transmitter that outputs a pulse-like transmission signal including a code of a position calculation target of f ₂ ,. The frequency from each transducer of the transducer is f ₁ , f
,..., F _n, a first receiving section comprising first, _second ,..., And _n-th receivers that respectively receive the received signals and output detection signals. From the child at frequencies f ₁ , f ₂ ,
,..., F _n , which receive the received signals and output the detection signal, respectively, the second receiving section including the n-th receiver (f) the first and the second receiving sections of the first receiving section 2,..., Provided corresponding to the nth receiver, receiving a transmission timing signal from a transmitter having the same frequency as the reception frequency of the receiver, starting a timing operation, and detecting from the corresponding receiver. A first timer unit comprising first, second,..., N-th timers that stop when a signal comes and measure and output the time from start to stop, and (g) first and second of the second receiver. 2,..., Provided corresponding to the nth receiver, receiving a transmission timing signal from a transmitter having the same frequency as the reception frequency of the receiver, starting a timing operation, and detecting from the corresponding receiver. Stops when a signal arrives, measures the time from start to stop, and outputs the first, second,..., Nth tie (H) receiving time signals from the n timers of the first timer unit and time signals from the n timers of the second timer unit; A time signal between the same timers, and a distance between the transducer / receiver, a distance corresponding to the time signal of the first timer unit from the position of the transducer;
A position calculating unit for calculating, for each rank number, a position having a distance corresponding to the time signal of the second timer unit from the position of the receiver;

Further, the underwater position calculating device, f _1, f ₂ set in the underwater position calculating device, ..., a plurality of different frequency from the frequency f _n is set as the operating frequency A transponder and an underwater position measuring device are configured.

[0021]

DESCRIPTION OF THE PREFERRED EMBODIMENTS In an embodiment of the present invention, a transmitter / receiver and a receiver are installed at a known distance. The installation may be at a fixed position in the water or under the draft of the ship. The transponder is attached to a plurality of moving objects that need to know their position to move underwater. For example, it is attached to a swimming underwater diver. The operations of a plurality of transmitters having different transmission frequencies may be simultaneous or time-shifted. Further, the transmission operation may be performed at an arbitrary time or may be continuously performed at a constant repetition cycle. When trying to track the movement every moment, the movement is continuously performed at a constant repetition cycle.

[0022]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing the configuration of an embodiment of the underwater position calculation device of the present invention. In this embodiment, the frequency is f ₁ , f
₂ and f ₃ . Transducer 1, transducer 2 of transducing frequency f _1, the oscillator 3 of the wave transceiver frequency f _2, transmission and reception wave frequency is constituted by the oscillator 4 of f _3. The transmission signal of the transmitter 5 having the transmission frequency f ₁ is transmitted to the vibrator 2, the transmission signal of the transmitter 6 having the transmission frequency f ₂ is transmitted to the vibrator 3, and the transmitter 7 having the transmission frequency of f ₃ is transmitted. Is transmitted to the vibrator 4. These transmission signals include codes assigned to the transponders. Thus, the frequency from the transducer 1 is f ₁ ,
Ultrasonic pulses of f ₂ and f ₃ are transmitted into water. The transmitted ultrasonic pulse propagates in the water and reaches transponders attached to a plurality of moving objects existing around.

The configuration of the transponder is the same as that of the conventional transponder shown in FIG.
₁ ones, those of f _2, 3 kinds of things are used and so that the f _3. Now, if the operating frequency of the transponder to be f _1, the received incoming three types of ultrasonic waves of a frequency f ₁ of the ultrasound becomes a received signal is converted into an electric signal by the transducer 41 42 The amplified signal is amplified and detected here, and the output signal is input to the code detector 43. Determining code code detection unit 43 in the in signal whether the self-code, if it is self-code frequency activates the transmitter 44 sends a trigger signal to the transmitter 44 of f ₁ The ultrasonic pulse signal is transmitted to the transducer 41. Similar operations, the operating frequency is also performed in the transponder of the transponder and f ₃ of the f _2.

On the other hand, among the received signals arriving at the transmitter / receiver 1 of the underwater position calculating device from the transponders here and there, those having a frequency of f ₁ are received by the vibrator 2 and the received signals are input to the receiver 8. The frequency f ₂ is received by the vibrator 3 and input to the receiver 9, and the frequency f ₃ is received by the vibrator 4 and input to the receiver 10. Receivers 8, 9,
The ten detection signal outputs are timers 14, 15, 16 respectively.
Is input to Further, the transmission timing signals simultaneously with the transmission are input from the transmitters 5, 6, 7 to the timers 14, 15, 16 respectively, and the respective timers receive the receivers 8, 9, 10 after the transmission timing signals are input. The time until the detection signal is input from is measured.

[0025] On the other hand, the transducer 24 is intended frequency of f ₁ of the signal from each transponder reaches the receiving transducer 23
In the reception, the received signal is input to the receiver 11, those of the frequency f ₂ is input to the receiver 12 is received at the transducer 25, that of the frequency f ₃ is received at the transducer 26 Input to the receiver 13. The detection signal outputs of the receivers 11, 12, and 13 are input to timers 17, 18, and 19, respectively. Also, the transmitters 5, 6, 7 are sent to the timers 17, 18, 19, respectively.
Each of the timers measures the time from when the transmission timing signal is input to when the detection signals from the receivers 11, 12, and 13 are input.

The timers 14 and 17 thus obtained are
The measurement time is intended operating frequency for transponder f _1, the timer 15 and the time measured by the timer 18 are those operating frequency for transponder f _2,
The measurement time of the timer 16 and the timer 19 is such that the operating frequency is f ₃
These are sent to the position calculating circuit 22 to calculate the position of the transponder of each frequency. The calculation itself of each position is based on the same principle as in the past. Since these measurements are performed at the same time, whether the position data can be updated three times faster than in the conventional case where the operating frequency is one frequency,
Alternatively, if the data update speed is the same as the conventional one, three times the number of transponder positions can be measured.

[0027]

As described above, according to the present invention, the underwater position calculating device is operated at a plurality of frequencies, so that it is possible to calculate the positions of the transmitted and received signals of each frequency simultaneously, and to use the transponder as described above. By using a plurality of types of transponders operating at each one of a plurality of frequencies, the positions of a plurality of transponders having different frequencies can be calculated at the same time. If the position data of each transponder can be updated, or if the data update speed is the same as the conventional one, there is an advantage that the position measurement of the transponders of a plurality of times is possible.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a configuration of an embodiment of an underwater position calculation device according to the present invention.

FIG. 2 is a block diagram illustrating a configuration of a conventional underwater position calculation device.

FIG. 3 is a block diagram showing a configuration of a conventional transponder.

FIG. 4 is a diagram illustrating the principle of position measurement.

[Description of Signs] 1 Transmitter / receiver 2, 3, 4 Transducer 5, 6, 7 Transmitter 8, 9, 10 Receiver 11, 12, 13 Receiver 14 to 19 Timer 22 Position calculation circuit 23 Receiver 24 , 25, 26 Transducers 40, 41 Transceiver 42 Receiver 43 Code detector 44 Transmitter 45 Receiver 46 Receiver 47 Transmitter 48 Timer 49 Receiver 50 Timer 51 Position calculator

Claims (2)

[Claims] 1. An underwater position calculation device comprising the following components. (A) A transmitter / receiver composed of a plurality of transducers whose transmission / reception frequencies are f ₁ , f ₂ ,..., F _n (where n is a natural number of 2 or more; the same applies hereinafter). A receiver composed of a plurality of transducers each of which is f ₁ , f ₂ ,..., F _n (c) The frequency is f ₁ ,
a _first , _second ,..., _n-th transmitter that outputs a pulse-like transmission signal including a code of a position calculation target of f ₂ ,. The frequency from each transducer of the transducer is f ₁ , f
,..., F _n, a first receiving section comprising first, _second ,..., And _n-th receivers that respectively receive the received signals and output detection signals. From the child at frequencies f ₁ , f ₂ ,
,..., F _n , which receive the received signals and output the detection signal, respectively, the second receiving section including the n-th receiver (f) the first and the second receiving sections of the first receiving section 2,..., Provided corresponding to the nth receiver, receiving a transmission timing signal from a transmitter having the same frequency as the reception frequency of the receiver, starting a timing operation, and detecting from the corresponding receiver. A first timer unit comprising first, second,..., N-th timers that stop when a signal comes and measure and output the time from start to stop, and (g) first and second of the second receiver. 2,..., Provided corresponding to the nth receiver, receiving a transmission timing signal from a transmitter having the same frequency as the reception frequency of the receiver, starting a timing operation, and detecting from the corresponding receiver. Stops when a signal arrives, measures the time from start to stop, and outputs the first, second,..., Nth tie (H) receiving time signals from the n timers of the first timer unit and time signals from the n timers of the second timer unit; A time signal between the same timers, and a distance between the transducer / receiver, a distance corresponding to the time signal of the first timer unit from the position of the transducer;
A position calculating unit for calculating, for each rank number, a position having a distance corresponding to the time signal of the second timer unit from the position of the receiver; 2. A plurality of underwater position calculation devices according to claim 1, wherein a plurality of different frequencies are set as operating frequencies among frequencies of f ₁ , f ₂ ,..., F _n of the underwater position calculation device. An underwater position measuring device, comprising: a transponder.