JP3202926B2 - Sound ray calculator - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a sound ray calculation device for calculating the length and propagation time of a sound wave propagation path (hereinafter referred to as a sound ray path).

[0002]

2. Description of the Related Art In the field of underwater acoustics, there is a method of calculating a ray path using ray theory. This means that the propagation time, the depth of arrival, and the trajectory of a sound wave that has entered a certain position in water from a certain direction in a horizontal direction when the sound wave travels by a certain small distance in the horizontal direction are determined by the sound velocity value and the sound velocity value at the incident position. This is a method of calculating the sound velocity value using the horizontal and vertical sound velocity derivatives (hereinafter referred to as one-step calculation), and the sound ray path is calculated by repeatedly calculating this to a desired horizontal distance. However, this has a condition that the sound velocity derivative must be continuous. Normally, the sound velocity distribution of the input sound wave is not uniform both vertically and horizontally,
A defined reference depth in the vertical direction and a number in the horizontal direction
It is given at discrete locations at intervals of 10 km to several 100 km.
Therefore, in calculating the sound velocity value at an arbitrary position and the sound velocity derivative in the horizontal and vertical directions of the sound velocity value, a data interpolation method that satisfies the condition that the sound velocity derivative is continuous is required. FIG. 2 is a configuration block diagram of a conventional sound ray calculation device. In the sound ray calculation method in the conventional sound ray calculation apparatus, first, the input sound velocity distribution data a is two-dimensionally spline-interpolated using the two-dimensional interpolation coefficient creation processing apparatus 1 so that the condition that the sound velocity differential coefficient is continuous is satisfied. To create a table of interpolation coefficients b. After that, each time one step calculation is performed by the sound velocity and sound velocity derivative coefficient processing unit 2 and the one-step calculation processing unit 3, the sound velocity value at an arbitrary position and the sound velocity derivative in the horizontal and vertical directions of the sound velocity value are calculated from the interpolation coefficient b. In this case, a sound ray is calculated by repeating these steps until a desired horizontal distance is reached, and sound ray information c is output.

[0003]

However, the sound ray calculation method using the sound ray calculation device shown in FIG. 2 has the following problems. That is, every time one-step calculation is performed, the sound velocity value and the horizontal and vertical sound velocity differential coefficients of the sound velocity value are calculated from the interpolation coefficients of the two-dimensional spline interpolation.

[0004]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention provides a sound velocity value of a sound wave incident from a certain direction at a certain position in water where the sound velocity distribution changes in a horizontal direction and a vertical direction. Using the horizontal and vertical sound velocity derivatives of the sound velocity value, the propagation time and arrival in the sound ray path that is the propagation path of the sound wave when the sound wave travels a certain distance in the horizontal direction from the incident position The following device is provided in a sound ray calculation device for calculating the depth and the azimuth to pass. That is, a given data position is defined as a first position, and an average sound velocity vertical distribution which is an average value of a sound velocity vertical distribution at the first position and a predetermined vertical sound velocity distribution at the first position. Of the sound velocity fluctuation, which is the difference between the empirical orthogonal functions and the empirical orthogonal functions (Emprical Orthogonal Functio) which are orthogonal to each other in the following processes (i) to (iv).
n, hereinafter referred to as an EOF) group and an EOF expansion processing device represented by an expansion coefficient group which is a weight coefficient of the EOF group; and (i) a sound velocity vertical distribution of a group is expressed by a sound velocity as shown in the following equation (1). Expressed as the difference between the vertical distribution and the average sound velocity vertical distribution. _{dc (z j, x i)} = c (z j, x i) -c 0 (z j) ··· (1) where, dc; sound speed variation c; sound velocity vertical distribution c _0; average sound velocity vertical distribution i A first position number j; a depth number x _i ; an i-th horizontal distance z _j ; a j-th depth (ii) data of sound speed fluctuations are represented in vector form as in the following equation (2), and a group of The variation vectors are arranged to form a matrix.

(Equation 2) Here, v {dC}; sound velocity variation matrix vector v {dc (z _i , x _j )}; variation vector I; number of data in horizontal direction J; number of data in depth direction (iii) sound velocity variation matrix vector v {DC} is subjected to singular value decomposition as in the following equation (3). ^{v {dC} = UΣV T ···} (3) where, U, V; unitary matrix sigma; singular values of v {dC} are arranged in diagonal elements diagonal matrix T; transpose of a matrix (iv) singular value decomposition The column vector of the unitary matrix U obtained by the above is the EOF, and the inner product of this vector and the sound velocity variation vector v {dC} is the expansion coefficient. v ｛U｝ = [v ｛f ₁ ｝ v ｛f ₂ ｝ ... v ｛f _{J Ｊ} ] v ｛f _k ｝ = [v ｛U _k1 ｝ v ｛U _k2 ｝ ... v｝ U _kJ ｝ ^{_{] T a k = v {f}} k T} × v {dC} k = 1,2, ···, J where, k; degree of EOF f _k; k following EOF _a k; k following expansion coefficient further , Average sound velocity vertical distribution at the first position and EOF
For a group, a vertical interpolation coefficient creation processing device for respectively obtaining a vertical interpolation coefficient using an interpolation method in which the differential coefficient of the average sound velocity vertical distribution is continuous, and a development coefficient group for the expansion coefficient group at the first position. A horizontal interpolation coefficient creation processing device for obtaining interpolation coefficients in the horizontal direction using an interpolation method in which the differential coefficients of the coefficient group are continuous; And an average sound velocity vertical distribution, a derivative of the average sound velocity vertical distribution, an EOF group, and a derivative of the EOF group are obtained from the value of the vertical interpolation coefficient at the first position for each of the second positions. A vertical table creation processing device, and a data position at intervals of a certain distance in the horizontal direction is defined as a third position. From the value of the horizontal interpolation coefficient at the first position, the expansion coefficient group and the expansion The derivative of the coefficient group And a Mel horizontal table creation processing apparatus is provided. In addition, the average sound velocity vertical distribution at the second position, the derivative of the average sound velocity vertical distribution, the EOF group at the second position, the derivative of the EOF group, and the development at the third position The sound velocity and the sound velocity fine value for obtaining the sound velocity value at an arbitrary position on the sound ray path and the differential coefficient of the horizontal and vertical sound velocity distribution by linear interpolation and product-sum using the coefficient group and the differential coefficient of the expansion coefficient group A coefficient calculation processing device and a distance in the horizontal direction from the position where the sound wave is incident using the actual measured value of the sound velocity at the position where the sound wave arrives and the differential coefficient value of the sound velocity distribution in the horizontal and vertical directions of the measured value And a one-step calculation processing device for calculating a propagation time, a reaching depth, and a passing azimuth when the vehicle travels only by a predetermined distance.

[0005]

According to the present invention, since the sound ray calculation device is configured as described above, in the EOF expansion processing device, the sound velocity vertical distribution at the first position and the predetermined vertical velocity at the first position are obtained. A sound speed variation, which is a difference from an average sound speed vertical distribution, which is an average value of the sound speed distribution in the direction, is obtained, and the sound speed variation is represented by an EOF group and an expansion coefficient group. Next, in the vertical interpolation coefficient creation processing device, a vertical interpolation coefficient is calculated for the average sound velocity vertical distribution at the first position and the EOF group. In the horizontal interpolation coefficient creation processing device, a horizontal interpolation coefficient is calculated for the expansion coefficient group at the first position. Further, in the vertical table creation processing device, the average sound velocity vertical distribution, the differential coefficient of the average sound velocity vertical distribution, the EOF group, and the fine EOF group are calculated for each second position from the value of the vertical interpolation coefficient at the first position. A coefficient is calculated. In the horizontal table creation processing device, a development coefficient group and differential coefficients of the development coefficient group are calculated for each third position from the value of the horizontal interpolation coefficient at the first position. Therefore, a table in which the intervals between the data points of the sound speed and the sound speed derivative are made small is created. Next, in the sound velocity and sound velocity derivative calculation processing device, the average sound velocity vertical distribution at the second position and the derivative of the average sound velocity vertical distribution, the EOF group at the second position and the derivative of the EOF group,
And the velocity of sound at an arbitrary position on the sound ray path by linear interpolation and multiply-accumulation with a smaller amount of calculation than the spline interpolation in the prior art using the expansion coefficient group at the third position and the differential coefficient of the expansion coefficient group The value and the derivative of the sound velocity distribution in the horizontal and vertical directions are calculated. Therefore, in the one-step calculation processing device, the measured value of the sound velocity at the position where the sound wave has arrived and the derivative values of the measured sound values in the horizontal and vertical directions of the sound velocity distribution are used to move the sound wave in the horizontal direction from the incident position. The propagation time, the arrival depth, and the azimuth to pass when traveling a certain distance are calculated with a smaller amount of calculation than in the past. Therefore, the above problem can be solved.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS First Embodiment FIG. 1 is a block diagram showing a configuration of a sound ray calculating apparatus according to an embodiment of the present invention. This sound ray calculation device has an EOF expansion processing device 11. The EOF expansion processing device 11 converts the sound velocity vertical distribution a to the average sound velocity vertical distribution S11a, the EOF group S11b, and the expansion coefficient group S corresponding to the EOF group 11b.
11c. Further, this sound ray calculation device includes an average sound velocity vertical distribution S11a and an EOF group S11.
A vertical interpolation coefficient creation processing device 12 for creating vertical interpolation coefficients S12a and S12b for each of b, and a horizontal interpolation coefficient creation processing device 13 for creating a horizontal interpolation coefficient S13 for each of the expansion coefficient groups 11c. The vertical interpolation coefficients S12a and S12b are input to the vertical table creation processing device 14. The vertical table creation processing device 14 includes vertical interpolation coefficients S12a and S12b.
From the average sound velocity vertical distribution S14a and its derivative S14
b, EOF group S14c and its differential coefficient S14d are calculated respectively, and the average sound velocity vertical distribution table b1, the average sound velocity vertical distribution differential coefficient table b2, the EOF group table b3,
It has a function of storing each in the differential coefficient table b4 of the EOF group. The horizontal interpolation coefficient S13 is input to the horizontal table creation processing device 15. The horizontal table creation processing device 15 has a function of calculating the expansion coefficient group S15a and its differential coefficient S15b from the horizontal interpolation coefficient S13 and storing them in the expansion coefficient group table b5 and the differential coefficient table b6 of the expansion coefficient group, respectively. . The data in each of the tables b1 to b6 is input to the sound speed and sound speed differential coefficient calculation processing device 16. The sonic velocity and sonic differential coefficient calculation processing device 16 calculates each of the tables b1 to b1.
From the data in b6, a sound velocity value at an arbitrary position and a sound velocity differential coefficient S16 in the horizontal and vertical directions of the sound velocity value are obtained and input to the one-step calculation processing device 17.
The one-step calculation processing device 17 calculates the sound ray by inputting the sound velocity value and the horizontal and vertical sound velocity derivatives S16 of the sound velocity value, and repeats the calculation result until the desired horizontal distance is reached. It has a function of returning to the coefficient calculation processing device 16 and outputting sound ray information c.

FIG. 3 is a diagram showing a data flow in FIG. The operation of FIG. 1 will be described with reference to FIG. First, the sound velocity in the vertical direction at a discrete position (hereinafter referred to as a first position) along a measurement line from a sound source to a receiver obtained from an ocean database composed of, for example, salinity, water temperature, and depth of seawater. A distribution (hereinafter referred to as a sound velocity vertical distribution) a is input to the EOF expansion processing device 11.
Next, in the EOF expansion processing device 11, the input first
Is divided into an average profile (that is, an average sound velocity vertical distribution at the first position) S11a and a change from this. Then, this change is subjected to EOF expansion using EOF, which is one of the standard orthogonal functions, and
The fourth-order EOF group S11b at the position of and the expansion coefficient group S11c corresponding to the EOF group 11b are created. EO
The F expansion is a function expansion performed by the following procedures (i) to (iv). (I) A group of sound velocity vertical distributions is represented by the difference between the sound velocity vertical distribution and the average sound velocity vertical distribution as shown in the following equation (1). _{dc (z j, x i)} = c (z j, x i) -c 0 (z j) ··· (1) where, dc; sound speed variation c; sound velocity vertical distribution c _0; average sound velocity vertical distribution i A first position number j; a depth number x _i ; an i-th horizontal distance z _j ; a j-th depth (ii) data of sound speed fluctuations are represented in vector form as in the following equation (2), and a group of The variation vectors are arranged to form a matrix.

(Equation 3) Here, v {dC}; sound velocity variation matrix vector v {dc (z _i , x _j )}; variation vector I; number of data in horizontal direction J; number of data in depth direction (iii) sound velocity variation matrix vector v {DC} is subjected to singular value decomposition as in the following equation (3). ^{v {dC} = UΣV T ···} (3) where, U, V; unitary matrix sigma; singular values of v {dC} are arranged in diagonal elements diagonal matrix T; transpose of a matrix (iv) singular value decomposition The column vector of the unitary matrix U obtained by the above is the empirical orthogonal function, and the expansion product is the inner product of this vector and the sound velocity variation vector v {dC}. v ｛U｝ = [v ｛f ₁ ｝ v ｛f ₂ ｝ ... v ｛f _{J Ｊ} ] v ｛f _k ｝ = [v ｛U _k1 ｝ v ｛U _k2 ｝ ... v｝ U _kJ ｝ ^{_{] T a k = v {f}} k T} × v {dC} k = 1,2, ···, J where, k; degree f _k of EOF; k following empirical orthogonal functions a _k; k Next Expansion coefficient The above processing is performed for the degree of the required expansion function,
Creating an EOF and an expansion coefficient group is EOF expansion.
Further, with respect to each of the obtained first average sound velocity vertical distribution S11a and the EOF group S11b at the first position, the vertical interpolation coefficient creation processing device 12 converts the vertical interpolation coefficients S12a and S12b at the first position by spline interpolation. Similarly, for each of the expansion coefficient groups 11c at the first position, the first horizontal interpolation coefficient S13 is created by the horizontal interpolation coefficient creation processing unit 13 by spline interpolation. Next, a data position at intervals of a certain depth in the vertical direction with respect to the first position is defined as a second position, and a vertical interpolation coefficient S at the first position is determined.
The average sound velocity vertical distribution S at the second position at 1 m intervals by the vertical table creation processing device 14 from 12a and S12b.
14a and its differential coefficient S14b, its EOF group S14c and its differential coefficient S14d are calculated, and these are calculated as an average sound velocity vertical distribution table b1, an average sound velocity vertical distribution differential coefficient table b2, an EOF group table b3, and an EOF group differential coefficient table. Stored in b4. From the horizontal interpolation coefficient S13 at the first position, the expansion coefficient group S15a and its differential coefficient S15b at the second position at the same minute intervals as those used in the one-step calculation by the horizontal table creation processing device 15.
Are stored in the expansion coefficient group table b5 and the differential coefficient table b6 of the expansion coefficient group.

Next, a sound ray calculation process is performed. First, the following processing (i) to the sound speed and sound speed differential coefficient calculation processing device 16 are performed.
Perform (iv). (I) Using the data of the average sound velocity vertical distribution table b1, the average sound velocity vertical distribution differential coefficient table b2, the EOF group table b3, and the EOF group differential coefficient table b4 created by the vertical table creation processing device 14, the The average sound speed, the differential coefficient of the average sound speed, EOF, and the differential coefficient of EOF are calculated by linear interpolation. (ii) The sound velocity at the sound source position is calculated as EO at the sound source position.
F, calculated by adding the average sound speed to the product sum of the expansion coefficients. (iii) The horizontal sound velocity derivative at the sound source position is calculated by the product sum of the EOF at the sound source position and the derivative of the expansion coefficient. (iv) A vertical sound velocity differential coefficient at the sound source position is calculated by adding the product sum of the EOF differential coefficient and the expansion coefficient at the sound source position to the average sound velocity differential coefficient. Then, the one-step calculation processing device 17 calculates the propagation time, the arrival depth, and the azimuth of the sound ray at a position 100 m in the horizontal direction from the sound source position. The same calculation is performed using the position 100 m ahead as the sound source position, and this is repeated up to the receiver position to calculate the sound ray.

As described above, in the present embodiment, the sound speed value and the horizontal and vertical directions of the sound speed value are calculated by performing the preprocessing for creating a table in which the interval between the data points of the sound speed and the sound speed differential coefficient is made small. The sound velocity differential coefficient can be calculated by linear interpolation that requires less calculation than spline interpolation.
As a result, the amount of calculation in the one-step calculation processing device 17 is reduced as compared with the related art, and in the case where a large number of long-range sound ray calculations are performed, it is possible to realize a sound ray calculation with a smaller amount of calculation than the related art. Further, by performing EOF expansion before creating a table in which the interval between the data points of the sound velocity value and the sound velocity derivative in the horizontal and vertical directions of the sound velocity value is made small, it is possible to reduce the amount of data in the table. Become. For example,
Maximum depth using quartic EOF and cubic spline interpolation
When calculating 8000m and 2,000 sound rays at a distance of 600km between the sound source and the receiver, if the calculation amount is represented by the number of arithmetic operations (for example, three additions, two multiplications, and one division) ,
The calculation amount is 6 times), and the preprocessing is 5,000,00 in this embodiment.
Although it increases 0 times, the amount of calculation regarding the sound velocity value at the time of one-step calculation and the sound velocity derivatives in the horizontal and vertical directions of the sound velocity value is as follows.
Compared to the conventional 100 times, the present embodiment is reduced to 60 times, and the present invention is reduced by 40 times.When this is repeated and 2,000 sound rays are calculated, the total number of the present embodiment is reduced by 475,000,000 times. I do. At this time, the data amount of the table is EOF.
Without expansion, the sound velocity distribution table alone is 48,0
In contrast to the extremely large number of 00,000 (8,000 × 6,000), in the present embodiment, it can be reduced to 128,000 ({(8,000 + 6,000) × 4 + 8,000} * 2). Note that the present invention is not limited to the above embodiment, and various modifications are possible. For example, there are the following modifications.

(A) The order of the EOF group generated in the EOF expansion processing device is not limited to the fourth order. (B) The spline interpolation in the vertical interpolation coefficient creation processing device 12 and the horizontal interpolation coefficient creation processing device 13 is performed by, for example,
Any interpolation method, such as the akima method, in which differential coefficients are continuous may be used. (C) The data interval in the vertical table creation processing device 14 may be other values than 1 m. (D) The update width in the horizontal direction in the one-step calculation processing device 17 is not limited to 100 m and may be another value.

[0011]

As described above in detail, according to the present invention, the sound velocity value and the sound velocity value can be obtained by performing a pre-process for creating a table in which the intervals between the data points of the sound velocity and the sound velocity differential coefficient are made small. The horizontal and vertical sound velocity derivatives can be calculated by linear interpolation, which requires less calculation than spline interpolation.
Therefore, the calculation amount in the one-step calculation processing device is reduced, and when performing many long-range sound ray calculations, a sound ray calculation with a smaller calculation amount than in the related art can be realized. In addition, since the EOF expansion is performed before the table in which the interval between the data points of the sound speed and the sound speed differential coefficient is made small, the data amount of the table can be suppressed.

[Brief description of the drawings]

FIG. 1 is a configuration block diagram of a sound ray calculation device according to an embodiment of the present invention.

FIG. 2 is a configuration block diagram of a conventional sound ray calculation device.

FIG. 3 is a diagram showing a data flow in FIG. 1;

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 11 EOF expansion processing apparatus 12 Vertical interpolation coefficient preparation processing apparatus 13 Horizontal interpolation coefficient preparation processing apparatus 14 Vertical table preparation processing apparatus 15 Horizontal table preparation processing apparatus 16 Sound velocity and sound velocity differential coefficient calculation processing apparatus 17 One-step calculation processing apparatus

──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Takashi Kamoshida 1-7-12 Toranomon, Minato-ku, Tokyo Oki Electric Industry Co., Ltd. (72) Inventor Akio Katani 1-7-12 Toranomon, Minato-ku, Tokyo Oki Electric Industry Co., Ltd. (56) References JP-A-8-297163 (JP, A) JP-A-8-255074 (JP, A) JP-B-7-46137 (JP, B2) Patent 2775096 (JP, A B2) Patent 2905785 (JP, B2) J. Eurick, Translated by Akira Tsuchiya, supervised by Minoru Nishimura, "The Principles of Underwater Acoustics", Kyoritsu Shuppan, first published on December 1, 1978, 99-192 (58) Field surveyed (Int.Cl. ⁷ , DB name) G01S 3/80-3/86 G01S 5/18-5/30 G01S 7/52-7/64 G01S 15/00-15 / 96 G01D 21/00 G01H 17/00

Claims (1)

(57) [Claims] 1. Using a sound velocity value of a sound wave incident from a certain direction at a certain position in water where sound velocity distribution changes in a horizontal direction and a vertical direction, and horizontal and vertical sound velocity derivatives of the sound velocity value. A sound ray calculation device that calculates a propagation time, an arrival depth, and an azimuth through which a sound ray travels as a propagation path of the sound wave when the sound wave travels a certain distance in the horizontal direction from the incident position. The obtained data position is defined as a first position, and the difference between the sound velocity vertical distribution at the first position and the average sound velocity vertical distribution which is a predetermined average value of the vertical sound velocity distribution at the first position. , And the empirical orthogonal functions that are orthogonal to each other and expansion coefficients that are weighting coefficients of the empirical orthogonal functions shown in the following processes (i) to (iv). An empirical orthogonal function expansion processor represented by: (i) a group The sound velocity vertical distribution, as shown in the following equation (1), expressed by the difference between the average sound velocity vertical distribution and acoustic velocity vertical distribution. _{dc (z j, x i)} = c (z j, x i) -c 0 (z j) ··· (1) where, dc; sound speed variation c; sound velocity vertical distribution c _0; average sound velocity vertical distribution i A first position number j; a depth number x _i ; an i-th horizontal distance z _j ; a j-th depth (ii) data of sound speed fluctuations are represented in vector form as in the following equation (2), and a group of The variation vectors are arranged to form a matrix. (Equation 1) Here, v {dC}; sound velocity variation matrix vector v {dc (z _i , x _j )}; variation vector I; number of data in horizontal direction J; number of data in depth direction (iii) sound velocity variation matrix vector v {DC} is subjected to singular value decomposition as in the following equation (3). ^{v {dC} = UΣV T ···} (3) where, U, V; unitary matrix sigma; singular values of v {dC} are arranged in diagonal elements diagonal matrix T; transpose of a matrix (iv) singular value decomposition The column vector of the unitary matrix U obtained by the above is the empirical orthogonal function, and the expansion product is the inner product of this vector and the sound velocity variation vector v {dC}. v ｛U｝ = [v ｛f ₁ ｝ v ｛f ₂ ｝ ... v ｛f _{J Ｊ} ] v ｛f _k ｝ = [v ｛U _k1 ｝ v ｛U _k2 ｝ ... v｝ U _kJ ｝ ^{_{] T a k = v {f}} k T} × v {dC} k = 1,2, ···, J where, k; degree f _k empirical orthogonal functions; the next k empirical orthogonal functions a _k; k-th expansion coefficient With respect to the average sound velocity vertical distribution at the first position and the empirical orthogonal function group, vertical coefficients for obtaining vertical interpolation coefficients using an interpolation method in which differential coefficients of the average sound velocity vertical distribution are continuous. An interpolation coefficient creation processing device, and a horizontal interpolation coefficient creation processing device for respectively obtaining a horizontal interpolation coefficient using an interpolation method in which the differential coefficients of the expansion coefficient group are continuous with respect to the expansion coefficient group at the first position. A data position at a constant depth in the vertical direction with respect to the first position as a second position, The average sound velocity vertical distribution from the value of the vertical interpolation coefficient at the first position for each position of the second,
A vertical table creation processing device for calculating the differential coefficient of the average sound velocity vertical distribution, the empirical orthogonal function group, and the differential coefficient of the empirical orthogonal function group, and a data position at regular intervals in the horizontal direction as a third position; From the value of the horizontal interpolation coefficient at the first position, the third
A horizontal table creation processing apparatus for obtaining a development coefficient group and a derivative of the development coefficient group for each position of: an average sound velocity vertical distribution at the second position, a derivative of the average sound velocity vertical distribution, and the second position Using the empirical orthogonal function group and the differential coefficient of the empirical orthogonal function group, and the expansion coefficient group at the third position and the differential coefficient of the expansion coefficient group, by linear interpolation and multiply-accumulate by the sound ray. A sound velocity and sound velocity differential coefficient calculation processing device for obtaining a sound velocity value at an arbitrary position on a route and a derivative of a sound velocity distribution in the horizontal and vertical directions; an actual measured value of the sound velocity at the position where the sound wave arrives; And a one-step calculation processing device for calculating a propagation time, a depth of arrival, and an azimuth passing when the sound wave travels a certain distance in a horizontal direction from a position where the sound wave is incident, using a differential coefficient value of a sound velocity distribution in a vertical direction, and Characterized by having Sound ray computing device.