JP7062270B2 - Underwater target point positioning system, underwater target point positioning method, and program - Google Patents

Description

The present invention relates to an underwater target point positioning system, an underwater target point positioning method, and a program.

As a device for measuring the absolute position of a target position in water, for example, Patent Document 1 describes a GNSS receiving antenna, an inclinometer for detecting the inclination angle of a measurement pole, and a GPS compass for specifying the direction of inclination. Disclosed is an underwater position measuring device provided with a measuring pole equipped with and.

Japanese Unexamined Patent Publication No. 2017-0264667

However, since the conventional device requires various measuring devices in addition to the reference GNSS receiving antenna, a complicated process is required to manufacture the device, and the manufacturing cost is high. Therefore, it may be difficult to improve the positioning accuracy.

The present invention has been made in view of such a problem, and is an underwater target point positioning system capable of inexpensively realizing a positioning system capable of acquiring underwater position coordinates with high accuracy with a simpler configuration. An underwater target point positioning method and a program are provided.

In order to solve the above problems, the present invention employs the following means.
According to the first aspect of the present invention, the underwater target point positioning system has a main body portion having an abutting portion abutting on an underwater target point and when the abutting portion abuts on the target point. Based on the underwater target point positioning device provided with three or more positioning receiving antennas attached to a portion of the main body located on the water, and the radio signal received by the positioning receiving antenna, the positioning is performed. The antenna absolute position positioning unit that positions the absolute position of the receiving antenna for positioning, the distance information indicating the distance from each mounting position of the receiving antenna for positioning to the contact portion, and the absolute position of each of the receiving antennas for positioning. It is provided with a target point absolute position estimation unit for estimating the absolute position of the contact portion based on the positioning result of the above.
With such a configuration, it is only necessary to attach at least three receiving antennas for positioning to the main body of the underwater target point positioning device. Therefore, the absolute position of the target position in water can be estimated with high accuracy without mounting various measuring devices such as a tilt sensor and a compass.

According to the second aspect of the present invention, in the underwater target point positioning system according to the first aspect, the main body portion is a pole-shaped member having one end as the contact portion, and the pole-shaped member. A member provided at one end different from the contact portion, and includes a positioning receiving antenna mounting member capable of arranging each of the three or more positioning receiving antennas at different positions from each other.
With such a configuration, the underwater target point positioning system is based on the positioning receiving antennas arranged at different positions and the distance information indicating the distance from each of the positioning receiving antennas to the contact portion. Since the absolute position of the contact portion can be narrowed down to one point, the positioning accuracy can be improved.

According to the third aspect of the present invention, in the underwater target point positioning system according to the first or second aspect, the target point absolute position estimation unit is the positioning result of each absolute position of the positioning receiving antenna. , The virtual distance, which is the distance between the temporary target point and each of the positioning receiving antennas, is calculated based on the temporary target point located at the tentatively determined absolute position, and is shown in the virtual distance and the distance information. Search for the absolute position of the provisional target point that minimizes the error from the distance.
With such a configuration, the underwater target point positioning system can improve the positioning accuracy while minimizing the error.

According to the fourth aspect of the present invention, the underwater target point positioning method is performed when a main body portion having an abutting portion abutting on an underwater target point and the abutting portion abuts on the target point. It is an underwater target point positioning method for positioning the position of an underwater target point using an underwater target point positioning device equipped with three or more positioning receiving antennas attached to a portion of the main body located on the water. Then, based on the radio signal received by the positioning receiving antenna, the antenna absolute positioning step for positioning the absolute position of the positioning receiving antenna and the mounting position of each of the positioning receiving antennas to the contact portion. It has a target point absolute position estimation step for estimating the absolute position of the contact portion based on the distance information indicating the distance of the above and the positioning result of each absolute position of the positioning receiving antenna.

According to a fifth aspect of the present invention, the program includes a main body portion having an abutting portion that comes into contact with a target point in water, and the main body portion when the abutting portion abuts on the target point. A computer of an underwater target point positioning system equipped with three or more positioning receiving antennas attached to a portion located on the water and an underwater target point positioning device provided with the radio signal received by the positioning receiving antenna. Based on this, the antenna absolute positioning unit that positions the absolute position of the positioning receiving antenna, the distance information indicating the distance from each mounting position of the positioning receiving antenna to the contact portion, and the positioning receiving antenna. It functions as a target point absolute position estimation unit that estimates the absolute position of the contact portion based on the positioning result of each absolute position.

According to the above-mentioned underwater target point positioning system, underwater target point positioning method, and program, a positioning system capable of acquiring underwater position coordinates with high accuracy can be realized at low cost with a simpler configuration.

It is a figure which shows the whole structure of the underwater target point positioning system which concerns on one Embodiment of this invention. It is a figure which shows the functional structure of the underwater target point positioning system which concerns on one Embodiment of this invention. It is a 1st flowchart which shows an example of the processing of the underwater target point positioning system which concerns on one Embodiment of this invention. It is a figure for demonstrating the function of the underwater target point positioning system which concerns on one Embodiment of this invention. It is a second flowchart which shows an example of the processing of the underwater target point positioning system which concerns on one Embodiment of this invention. It is a figure which shows an example of the distance information which concerns on one Embodiment of this invention. It is a figure which shows an example of the hardware composition of the arithmetic unit which concerns on one Embodiment of this invention. It is a figure which shows the functional structure of the underwater target point positioning system which concerns on the modification of this invention.

Hereinafter, the underwater target point positioning system 1 according to the embodiment of the present invention will be described with reference to FIGS. 1 to 7.

(overall structure)
FIG. 1 is a diagram showing an overall configuration of an underwater target point positioning system according to an embodiment of the present invention.
As shown in FIG. 1, the underwater target point positioning system 1 includes an underwater target point positioning device 10 and an arithmetic unit 20.
The underwater target point positioning device 10 is partially abutted against the underwater ground ground WG while being held by the operator (positioning person).
The arithmetic unit 20 processes the information obtained by using the underwater target point positioning device 10 to perform an operation for estimating the absolute position of the underwater target point. The arithmetic unit 20 may be, for example, a general computer mounted on a ship or the like.

The underwater target point positioning device 10 includes a pole-shaped member 100a and a positioning receiving antenna mounting member 100b. Hereinafter, the pole-shaped member 100a and the positioning receiving antenna mounting member 100b are collectively referred to as the “main body 100” of the underwater target point positioning device 10.

The pole-shaped member 100a is held so that one end side thereof is located in the water at the time of positioning the target point WG1 of the bottom ground WG. The contact portion 100c, which is one end of the pole-shaped member 100a on the underwater side, is in contact with the target point WG1. The positioning person grips the pole-shaped member 100a so that the contact portion 100c does not move from the target point WG1.

The positioning receiving antenna mounting member 100b is provided at one end of the pole-shaped member 100a on the opposite side of the contact portion 100c. The positioning receiving antenna mounting member 100b is always located above the water surface WS at the time of positioning the target point WG1 of the bottom ground WG. Four positioning receiving antennas 101a, 101b, 101c, and 101d are attached to the positioning receiving antenna mounting member 100b. Hereinafter, the positioning receiving antennas 101a, 101b, 101c, and 101d are collectively referred to as “positioning receiving antenna 101”.

The positioning receiving antenna 101a receives radio signals (navigation signals) from a plurality of navigation satellites in the GNSS (Global Navigation Satellite System). The four positioning receiving antennas 101 are mounted at different positions from each other in the positioning receiving antenna mounting member 100b. As a result, since the four positioning receiving antennas 101 are arranged on the water during positioning, the radio signal from the navigation satellite can be correctly received.

(Functional configuration)
FIG. 2 is a diagram showing a functional configuration of an underwater target point positioning system according to an embodiment of the present invention.
As shown in FIG. 2, the arithmetic unit 20 includes a CPU 200, a RAM 210, a display unit 220, an operation unit 230, and a recording medium 240.

The CPU 200 is an arithmetic unit that realizes each function described later by reading a program or data stored in a ROM, a storage device, or the like onto the RAM 210 and executing processing.

The RAM 210 is a volatile memory used as a work area or the like of the CPU 200.

The display unit 220 is realized by, for example, a liquid crystal display, and displays the processing result by the CPU 200 toward the operator (positioning person).

The operation unit 230 is composed of, for example, a mouse, a touch panel, a keyboard, and the like, and inputs various operations and the like to the arithmetic unit 20 in response to an instruction from an operator (positioning person).

The recording medium 240 is realized by, for example, an HDD (Hard Disk Drive), an SSD (Solid State Drive), or the like, and stores an OS (Operation System), an application program, various data, and the like.
The distance information 240a is recorded in advance on the recording medium 240 according to the present embodiment. Here, the distance information 240a is information obtained by prior measurement, and is the distance from the attachment position of each of the four positioning receiving antennas 101 in the underwater target point positioning device 10 to the contact portion 100c. It is an information table to show.

By operating based on a dedicated program, the CPU 200 exhibits functions as an antenna absolute position positioning unit 201 and a target point absolute position estimation unit 202.
The antenna absolute position positioning unit 201 positions the absolute position of the positioning receiving antenna 101 based on the radio signal received by the positioning receiving antenna 101.
The target point absolute position estimation unit 202 estimates the absolute position of the contact portion 100c based on the distance information 240a recorded in advance on the recording medium 240 and the positioning result of each absolute position of the positioning receiving antenna 101. do.

(Processing flow)
FIG. 3 is a first flowchart showing an example of processing of the underwater target point positioning system according to the embodiment of the present invention.
FIG. 4 is a diagram for explaining the function of the underwater target point positioning system according to the embodiment of the present invention.
When positioning the underwater target point WG1, the positioning person abuts and fixes the contact portion 100c of the underwater target point positioning device 10 to the target point WG1 as shown in FIG.
Then, as shown in FIG. 3, the antenna absolute position positioning unit 201 of the arithmetic unit 20 receives the positioning receiving antenna 101 based on the radio signal received by each of the positioning receiving antennas 101 (101a, 101b, 101c, 101d). Positioning of each absolute position A, B, C, D (FIG. 4) is performed (step S10).

Next, the target point absolute position estimation unit 202 is based on the absolute positions A to D of each of the positioning receiving antennas 101 positioned in step S10, and the absolute position P of the contact portion 100c that abuts on the target point WG1 (FIG. 4). ) Is estimated (step S11).
FIG. 5 is a second flowchart showing an example of processing of the underwater target point positioning system according to the embodiment of the present invention.
Specifically, the target point absolute position estimation unit 202 executes each process shown in FIG. 5 in step S11 to estimate the absolute position P of the contact portion 100c.

First, the target point absolute position estimation unit 202 reads the distance information 240a from the recording medium 240 (step S110).
FIG. 6 is a diagram showing an example of distance information according to an embodiment of the present invention.
As shown in FIG. 6, the distance information 240a is an information table showing the distance Ri (Ri_a, Ri_b, Ri_c, Ri_d) from the mounting position of each of the positioning receiving antennas 101 to the contact portion 100c.
The distance Ri, for example, is measured by a laser range finder (not shown) when assembling each part of the underwater target point positioning device 10, and is stored as the distance information 240a. Further, when the positioning receiving antenna mounting member 100b and the positioning receiving antenna 101 are detachable, the distance Ri corresponding to each of the positioning receiving antennas 101 is measured and the distance information 240a is obtained each time the positioning receiving antenna 101 is attached. You may try to update. By doing so, it is possible to prevent the distance Ri from changing due to the removal of each part of the underwater target point positioning device 10 and the positioning accuracy from deteriorating.

Next, returning to FIG. 5, the target point absolute position estimation unit 202 sets the initial position O (FIG. 4) when estimating the absolute position P of the contact portion 100c (step S111).
As shown in FIG. 4, the target point absolute position estimation unit 202 sets a certain point near the contact portion 100c as the initial position O. For example, the target point absolute position estimation unit 202 sets the position below the gravity direction by the length L of the pole-shaped member 100a from the center of gravity coordinate M of each of the positioning receiving antennas 101 as the initial position O (coordinates Xo, Yo, Zoo). Set.

Next, returning to FIG. 5, the target point absolute position estimation unit 202 starts from the initial position O and has a “distance Ri (Ri_a to Ri_d)” between each of the positioning receiving antennas 101 and the contact portion 100c. The absolute position of the provisional target point where the sum of squares of the difference from the “virtual distance” which is the distance from each of the positioning receiving antennas 101 is minimized is searched for (step S112).
Taking FIG. 4 as an example, the “distance Ri_a” between the positioning receiving antenna 101a and the contact portion 100c and the initial position O (Xo) from the absolute position A (Xa, Ya, Za) of the positioning receiving antenna 101a. , Yo, Zoo), the squared value of the difference from the "virtual distance AO" was calculated using the absolute position of the provisional target point closer to the absolute position P of the contact portion 100c than the initial position O. Should be greater than the value at. The same can be said for the other positioning receiving antennas 101b to 101d. Therefore, the position where the sum of the squared values of the difference between the "distance Ri" and the "virtual distance" for each of the positioning receiving antennas 101 is the minimum is the position where the error from the absolute position P of the contact portion 100c is the minimum. It is the absolute position of the tentative target point.
At this time, the target point absolute position estimation unit 202 uses, for example, the quasi-Newton method (BFGS method) to minimize the squared sum of the errors between the "distance Ri" and the "virtual distance". Is determined, and this is estimated to be the absolute position P of the contact portion 100c.

Next, returning to FIG. 3, the target point absolute position estimation unit 202 displays the absolute position P estimated in step S11 on the display unit 220, and stores and stores it in the recording medium 240 (step S113). At this time, the positioning results (absolute positions A to D) and the positioning date and time of the positioning receiving antennas 101a to 101d used for estimating the absolute position P may be displayed and stored in association with the absolute position P. Further, the absolute position P may be represented by ECEF (Earth-Centered, Earth-Fixed) Cartesian coordinates, or the target point absolute position estimation unit 202 may be converted into geodetic coordinates.

The arithmetic unit 20 of the underwater target point positioning system 1 repeatedly executes each of the above processes at predetermined time (for example, 1 second). Therefore, for example, even if the position of the positioning receiving antenna 101 of the underwater target point positioning device 10 moves when the ship is shaken, the contact portion is based on the position of the positioning receiving antenna 101 before and after the movement. The absolute position P of 100c (target point WG1) can be estimated accurately.

(Hardware configuration)
FIG. 7 is a diagram showing an example of the hardware configuration of the arithmetic unit according to the embodiment of the present invention.
Hereinafter, an example of the hardware configuration of the arithmetic unit 20 of the underwater target point positioning system 1 according to the present embodiment will be described with reference to FIG. 7.
As shown in FIG. 7, the computer 900 includes a CPU 901, a main storage device 902, an auxiliary storage device 903, and an interface 904.
The arithmetic unit 20 described above is mounted on the computer 900. The operation of each processing unit of the arithmetic unit 20 described above is stored in the auxiliary storage device 903 in the form of a program. The CPU 901 reads the program from the auxiliary storage device 903, expands it to the main storage device 902, and executes the above processing according to the program. Further, the CPU 901 secures a storage area used by the arithmetic unit 20 for various processes in the main storage device 902 according to the program. Further, the CPU 901 secures a storage area (recording medium 240) for storing the data being processed in the auxiliary storage device 903 according to the program.

Examples of the auxiliary storage device 903 include HDD (Hard Disk Drive), SSD (Solid State Drive), magnetic disk, optomagnetic disk, CD-ROM (Compact Disc Read Only Memory), and DVD-ROM (Digital Versatile Disc Read Only). Memory), semiconductor memory and the like. The auxiliary storage device 903 may be an internal medium directly connected to the bus of the computer 900, or an external medium connected to the computer 900 via the interface 904 or a communication line. Further, when this program is distributed to the computer 900 by a communication line, the distributed computer 900 may expand the program to the main storage device 902 and execute the above processing. In at least one embodiment, the auxiliary storage device 903 is a non-temporary tangible storage medium.

Further, the program may be for realizing a part of the above-mentioned functions.
Further, the program may be a so-called difference file (difference program) that realizes the above-mentioned function in combination with another program already stored in the auxiliary storage device 903.

(Action effect)
As described above, in the underwater target point positioning system 1 according to the present embodiment, the main body portion 100 having the abutting portion 100c abutting on the underwater target point WG1 and the abutting portion 100c abut on the target point WG1. An underwater target point positioning device 10 including three or more positioning receiving antennas 101 attached to a portion of the main body 100 located on the water when the main body 100 is used, and a radio signal received by the positioning receiving antenna 101. Based on this, the antenna absolute position positioning unit 201 that positions the absolute position of the positioning receiving antenna 101, the distance information 240a indicating the distance from each mounting position of the positioning receiving antenna 101 to the contact portion 100c, and the positioning unit. A target point absolute position estimation unit 202 that estimates the absolute position of the contact portion 100c based on the positioning result of each absolute position of the receiving antenna 101 is provided.
With such a configuration, it is only necessary to attach at least three positioning receiving antennas 101 to the main body 100 of the underwater target point positioning device 10. Therefore, the absolute position of the target position in water can be estimated with high accuracy without mounting various measuring devices such as a tilt sensor and a compass.

Further, the main body 100 is a pole-shaped member 100a having one end of the contact portion 100c and a member of the pole-shaped member 100a provided at one end different from the contact portion 100c, and has three or more positioning. It includes a positioning receiving antenna mounting member 100b that allows each of the receiving antennas 101 to be arranged at different positions from each other.
With such a configuration, based on the absolute position of each of the positioning receiving antennas 101 arranged at different positions and the distance information 240a indicating the distance from each of the positioning receiving antennas 101 to the contact portion 100c. Since the absolute position of the contact portion 100c can be narrowed down to one point, the positioning accuracy can be improved.

Further, the target point absolute position estimation unit 202 is based on the positioning result of each absolute position of the positioning receiving antenna 101 and the tentative target point located at the tentatively determined absolute position, and the tentative target point for positioning. The virtual distance, which is the distance to each of the receiving antennas 101, is calculated, and the absolute position of the provisional target point where the error between the virtual distance and the distance Ri shown in the distance information 240a is minimized is searched for.
With such a configuration, the underwater target point positioning system 1 can improve the positioning accuracy while minimizing the error.

Further, the target point absolute position estimation unit 202 sets the position below the gravity direction by the length L of the pole-shaped member 100a from the center of gravity coordinate M of each of the positioning receiving antennas 101 as the initial position O, and sets the initial position O. Use the starting point to search for a temporary target point that minimizes the error.
By doing so, the target point absolute position estimation unit 202 can obtain the initial position O estimated to be close to the contact portion 100c from the absolute position of each of the positioning receiving antennas 101. Further, by starting the search starting from the initial position O, it is possible to suppress the search for a position extremely far from the absolute position of the contact portion 100c, so that the search process can be speeded up. can.

Although the embodiments of the present invention have been described in detail above, they are not limited to these as long as they do not deviate from the technical idea of the present invention, and some design changes and the like are possible.
FIG. 8 is a diagram showing a functional configuration of an underwater target point positioning system according to a modified example of the present invention.
In the above-described embodiment, the mode in which the antenna absolute positioning unit 201 is processed in the CPU in the arithmetic unit 20 on the ship has been described as an example, but the present invention is not limited to this. The underwater target position measuring device 10 may be provided with an arithmetic unit that performs processing of the antenna absolute positioning unit 201 of the arithmetic unit 20 for each positioning receiving antenna 101 so that the absolute position of each antenna is positioned. ..
Specifically, as shown in FIG. 8, the underwater target point positioning device 10 includes four positioning units 110a, 110b, 110c, and 110d. The positioning unit 110a has a positioning receiving antenna 101a and a CPU 102a, and the CPU 102a operates based on a dedicated program to exert a function as an antenna absolute positioning unit 103a. The function of the antenna absolute positioning unit 103a is the same as that of the antenna absolute positioning unit 201 in the above-described embodiment.
Although not shown, each of the positioning units 110b, 110c, and 110d has the same functional configuration as the positioning unit 110a.

Further, in the above-described embodiment, the embodiment in which the underwater target point positioning device 10 has four positioning receiving antennas 101 has been described as an example, but the present invention is not limited to this. The underwater target point positioning system 1 may have three or more positioning receiving antennas 101.
When the underwater target point positioning device 10 has three positioning receiving antennas 101, the target point absolute position estimation unit 202 starts from the midpoint of the two positioning receiving antennas 101 attached to symmetrical positions. The position below the gravity direction by the length L of the pole-shaped member 100a may be set as the initial position O.

1 Underwater target point positioning system 10 Underwater target point positioning device 100 Main body 100a Pole-shaped member 100b Member 100c Abutment part 101, 101a, 101b, 101c, 101d Positioning receiving antenna 20 Arithmetic logic unit 200 CPU
201 Antenna absolute position positioning unit 202 Target point absolute position estimation unit 220 Display unit 230 Operation unit 240 Recording medium 110a Positioning unit 110b Positioning unit 110c Positioning unit 110d Positioning unit 102a CPU
103a Antenna absolute positioning unit 240a Distance information 900 Computer 901 CPU
902 Main storage device 903 Auxiliary storage device 904 Interface WS Water surface WG Underwater ground WG1 Target point

Claims (4)

A main body having an abutting portion that abuts on a target point in water, and three or more attached to a portion of the main body located on the water when the abutting portion abuts on the target point. An underwater target point positioning device equipped with a positioning receiving antenna,
An antenna absolute positioning unit that positions the absolute position of the positioning receiving antenna based on the radio signal received by the positioning receiving antenna, and an antenna absolute positioning unit.
Based on the distance information indicating the distance from each mounting position of the positioning receiving antenna to the contact portion and the positioning result of each absolute position of the positioning receiving antenna, the absolute position of the contact portion is determined. The target point absolute position estimation unit to be estimated and
Equipped with
The target point absolute position estimation unit is
Based on the positioning result of each absolute position of the positioning receiving antenna and the tentative target point located at the tentatively determined absolute position, the virtual distance which is the distance between the tentative target point and each of the positioning receiving antennas. An underwater target point positioning system that searches for the absolute position of the provisional target point that minimizes the error between the virtual distance and the distance shown in the distance information. The main body is
A pole-shaped member having one end as the contact portion,
A member provided at one end of the pole-shaped member different from the contact portion, and a positioning receiving antenna mounting member capable of arranging each of the three or more positioning receiving antennas at different positions from each other. ,
The underwater target point positioning system according to claim 1. A main body having an abutting portion that abuts on a target point in water, and three or more attached to a portion of the main body located on the water when the abutting portion abuts on the target point. It is an underwater target point positioning method for positioning the position of an underwater target point using an underwater target point positioning device equipped with a positioning receiving antenna.
An antenna absolute positioning step for positioning the absolute position of the positioning receiving antenna based on the radio signal received by the positioning receiving antenna, and an antenna absolute positioning step.
Based on the distance information indicating the distance from each mounting position of the positioning receiving antenna to the contact portion and the positioning result of each absolute position of the positioning receiving antenna, the absolute position of the contact portion is determined. The target point absolute position estimation step to be estimated and
Have,
The target point absolute position estimation step is
Based on the positioning result of each absolute position of the positioning receiving antenna and the tentative target point located at the tentatively determined absolute position, the virtual distance which is the distance between the tentative target point and each of the positioning receiving antennas. And search for the absolute position of the provisional target point where the error between the virtual distance and the distance shown in the distance information is minimized.
Underwater target point positioning method. A main body having an abutting portion that abuts on a target point in water, and three or more attached to a portion of the main body located on the water when the abutting portion abuts on the target point. A computer for an underwater target point positioning system equipped with a positioning receiver antenna and an underwater target point positioning device.
An antenna absolute positioning unit that positions the absolute position of the positioning receiving antenna based on the radio signal received by the positioning receiving antenna.
Based on the distance information indicating the distance from each mounting position of the positioning receiving antenna to the contact portion and the positioning result of each absolute position of the positioning receiving antenna, the absolute position of the contact portion is determined. Target point absolute position estimation unit to estimate,
It is a program that functions as
The target point absolute position estimation unit is
Based on the positioning result of each absolute position of the positioning receiving antenna and the tentative target point located at the tentatively determined absolute position, the virtual distance which is the distance between the tentative target point and each of the positioning receiving antennas. And search for the absolute position of the provisional target point where the error between the virtual distance and the distance shown in the distance information is minimized.
program.

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