JP7723962B2 - Acoustic positioning processing method, acoustic positioning processing program, and acoustic positioning processing system for underwater vehicles - Google Patents
Acoustic positioning processing method, acoustic positioning processing program, and acoustic positioning processing system for underwater vehiclesInfo
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- JP7723962B2 JP7723962B2 JP2021141229A JP2021141229A JP7723962B2 JP 7723962 B2 JP7723962 B2 JP 7723962B2 JP 2021141229 A JP2021141229 A JP 2021141229A JP 2021141229 A JP2021141229 A JP 2021141229A JP 7723962 B2 JP7723962 B2 JP 7723962B2
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Description
本発明は、水中航走体の位置を音響測位装置で測位した結果を処理する水中航走体の音響測位処理方法、音響測位処理プログラム、及び音響測位処理システムに関する。 The present invention relates to an acoustic positioning processing method for an underwater vehicle, an acoustic positioning processing program, and an acoustic positioning processing system that process the results of positioning the underwater vehicle using an acoustic positioning device.
海洋や湖沼等において調査水域に水中航走体を投入して水底探査を行う場合、水中航走体の水中位置を把握するために音響測位が用いられている。
例えば特許文献１には、仮想の固定座標上における自己位置を慣性航法により検出可能な慣性航法装置と、水中ステーションに設置されたトランスポンダの自己位置からの相対距離および方位を音響測位により検出可能な音響測位装置と、慣性航法装置で把握される固定座標上の自己位置に対して、音響測位装置で検出されるトランスポンダの相対距離および方位を組み合わせることで、トランスポンダの固定座標上における位置を算出する自律航行制御装置とを備えている自律型無人潜水機が開示されている。
また特許文献２には、マルチビーム測深器と、海底面の各位置の水深を示す水深データが予め格納された水深データベースを備える測位演算装置とを具備した水中航走体において、マルチビーム測深器は、海底面の当該水中航走体からの深度を、当該水中航走体の進行方向と垂直な垂直方向に分散して規定された複数の位置について計測し、測位演算装置は、マルチビーム測深器によって計測された深度から海底地形に対応する計測海底地形データを生成し、計測海底地形データと水深データベースに格納された水深データとから、マッチング処理によって当該水中航走体の位置を特定することが開示されている。
また特許文献３には、観測船及び観測船に搭載された音響送受信機と、観測船に曳航される第一水面曳航体及び第二水面曳航体と、観測船に曳航される深海曳航器と、第一水面曳航体に搭載され観測船上の音響送受信機に通信ケーブルで接続され電波測位システムで測位される音響送受波器と、第二水面曳航体に搭載され観測船上の音響送受信機に通信ケーブルで接続され電波測位システムで測位される２つの音響受波器と、深海曳航器に搭載された音響パルス発信器と、観測船上に搭載され、音響送受波器及び各音響受波器自身の位置データと音響送受波器及び音響受波器から音響パルス発信器までの距離データとに基づいて深海曳航器の位置を算出する水中移動体の測位装置が開示されている。
また特許文献４には、水中の音源位置を測定する水中音響測位方式において、深度計を有する音響装置と受波器との水平距離を音源装置の深度ならびに音源装置と受波器との間のスラントレンジから求めるとともに、音源装置の水平方位を受波器内の異なる位置に設けられた複数の受波器素子各々が音源装置から発信される音波信号を受信する際の位相差から求めることにより、音源装置の３次元位置を測定することが開示されている。
When an underwater vehicle is deployed in a survey area of the ocean, lakes, or marshes to conduct a water bottom survey, acoustic positioning is used to determine the underwater position of the underwater vehicle.
For example, Patent Document 1 discloses an autonomous unmanned underwater vehicle equipped with an inertial navigation system capable of detecting its own position on a virtual fixed coordinate system using inertial navigation, an acoustic positioning system capable of detecting the relative distance and direction from its own position of a transponder installed in an underwater station using acoustic positioning, and an autonomous navigation control device that calculates the position of the transponder on the fixed coordinate system by combining the relative distance and direction of the transponder detected by the acoustic positioning system with the self-position on the fixed coordinate system determined by the inertial navigation system.
Patent document 2 also discloses an underwater vehicle equipped with a multi-beam echo sounder and a positioning calculation device having a depth database in which depth data indicating the depth of each position on the seabed surface is pre-stored, in which the multi-beam echo sounder measures the depth of the seabed surface from the underwater vehicle at a plurality of specified positions dispersed in a vertical direction perpendicular to the direction of travel of the underwater vehicle, and the positioning calculation device generates measured seabed topography data corresponding to the seabed topography from the depth measured by the multi-beam echo sounder, and identifies the position of the underwater vehicle by a matching process using the measured seabed topography data and the depth data stored in the depth database.
Patent Document 3 also discloses an underwater moving body positioning device that includes an observation vessel and an acoustic transmitter/receiver mounted on the observation vessel, a first surface tow body and a second surface tow body towed by the observation vessel, a deep-sea tow vehicle towed by the observation vessel, an acoustic transmitter/receiver mounted on the first surface tow body and connected to the acoustic transmitter/receiver on the observation vessel by a communication cable and positioned using a radio positioning system, two acoustic receivers mounted on the second surface tow body and connected to the acoustic transmitter/receiver on the observation vessel by communication cables and positioned using a radio positioning system, an acoustic pulse transmitter mounted on the deep-sea tow vehicle, and a positioning device that is mounted on the observation vessel and calculates the position of the deep-sea tow vehicle based on position data of the acoustic transmitter/receiver and each acoustic receiver themselves and distance data from the acoustic transmitter/receiver and acoustic receiver to the acoustic pulse transmitter.
Patent Document 4 also discloses an underwater acoustic positioning method for measuring the position of a sound source underwater, in which the horizontal distance between an acoustic device having a depth meter and a receiver is determined from the depth of the sound source device and the slant range between the sound source device and the receiver, and the horizontal direction of the sound source device is determined from the phase difference when each of multiple receiver elements located at different positions within the receiver receives the sound signal emitted from the sound source device, thereby measuring the three-dimensional position of the sound source device.
音響測位のうち、ＳＢＬ（Short Base Line）、又はＳＳＢＬ（Super Short Base Line）と呼ばれる、計測対象の方位と距離を計測するタイプの音響測位装置が普及しつつあるが、測位で得た座標のみからは、その測位がどれだけ信頼できる値であるかを判断できない。
特許文献１の自律型無人潜水機は、水中ステーションに設置されたトランスポンダの自己位置からの相対距離および方位を音響測位により検出するものであるが、検出結果が信頼できるものかどうかは評価していない。
また特許文献２の水中航走体は、水深データベースやマルチビーム測深器等を用いて水中航走体の位置を特定しようとするものであり、音響測位の結果の信頼性を評価するものでは無い。
また特許文献３の水中移動体の測位装置は、第一水面曳航体に搭載された音響送受波器及び第二水面曳航体に搭載された音響受波器から深海曳航器に搭載された音響パルス発振器までの距離データに基づいて深海曳航器の位置を算出するものであるが、算出結果が信頼できるものかどうかは評価していない。
また特許文献４の水中音響測位方式は、深度や音源装置と受波器との間のスラントレンジ等を基に音源装置の３次元位置を測定するものであるが、測定結果が信頼できるものかどうかは評価していない。
そこで本発明は、音響測位結果の信頼性の程度を把握できる水中航走体の音響測位処理方法、音響測位処理プログラム、及び音響測位処理システムを提供することを目的とする。
Among acoustic positioning methods, acoustic positioning devices of the type known as SBL (Short Base Line) or SSBL (Super Short Base Line), which measure the direction and distance of a measurement target, are becoming more common. However, it is not possible to determine how reliable the positioning is from the coordinates obtained by the positioning alone.
The autonomous underwater vehicle in Patent Document 1 uses acoustic positioning to detect the relative distance and direction from its own position to a transponder installed in an underwater station, but does not evaluate whether the detection results are reliable.
Furthermore, the underwater vehicle in Patent Document 2 attempts to identify the position of the underwater vehicle using a water depth database, a multi-beam echo sounder, etc., and does not evaluate the reliability of the results of acoustic positioning.
In addition, the underwater moving body positioning device of Patent Document 3 calculates the position of the deep-sea tow vehicle based on distance data from the acoustic transmitter/receiver mounted on the first surface tow vehicle and the acoustic receiver mounted on the second surface tow vehicle to the acoustic pulse oscillator mounted on the deep-sea tow vehicle, but does not evaluate whether the calculation results are reliable.
Furthermore, the underwater acoustic positioning method of Patent Document 4 measures the three-dimensional position of a sound source device based on the depth and the slant range between the sound source device and the receiver, but does not evaluate whether the measurement results are reliable.
Therefore, an object of the present invention is to provide an acoustic positioning processing method, an acoustic positioning processing program, and an acoustic positioning processing system for an underwater vehicle that can grasp the degree of reliability of the acoustic positioning results.
請求項１記載に対応した水中航走体の音響測位処理方法は、水中航走体の位置を音響測位装置で測位した結果を処理する音響測位処理方法であって、水中で音波を用いて水中航走体の３次元位置を測位したデータを取得する測位データ取得ステップと、水中航走体の深度データを取得する深度データ取得ステップと、同時刻における３次元位置に基づいた深度と深度データとを比較し、３次元位置の測位の精度を評価する精度評価ステップと、測位の精度の評価結果を提供する評価結果提供ステップとを備え、評価結果提供ステップの前に、精度評価ステップで評価した測位の精度の評価結果と、予め定めた許容誤差とに基づいて３次元位置の測位データの採用の可否を判断する判断ステップを有し、測位データが採用できないと判断された場合に、深度データを用いて３次元位置の補正結果を得たのち、補正結果を水中航走体の航跡情報を含む内部情報と比較して補正結果の精度を再評価する補正評価ステップをさらに有し、補正結果と共に再評価結果を提供することを特徴とする。
請求項１に記載の本発明によれば、運用者等は同時刻における３次元位置に基づいた深度と深度データとを比較し、水中航走体の測位座標がどの程度正確なのかを知ることができ、水中航走体に対する監視の充実化を図ることができる。また、予め定めた許容誤差に基づいて３次元位置の測位データの採用の可否の判断結果を提供でき、例えば、所定以上の精度を有する測位データのみを運用者等に提供することができる。また、従来は破棄していた一部の誤検出座標が利用可能となるため、測位機会を無駄なく活用することができる。
The acoustic positioning processing method for an underwater vehicle according to claim 1 is an acoustic positioning processing method for processing the results of positioning the position of the underwater vehicle using an acoustic positioning device, and comprises a positioning data acquisition step for acquiring data obtained by positioning the three-dimensional position of the underwater vehicle using sound waves underwater, a depth data acquisition step for acquiring depth data of the underwater vehicle, an accuracy evaluation step for comparing the depth based on the three-dimensional position at the same time with the depth data to evaluate the accuracy of the three-dimensional position positioning, and an evaluation result provision step for providing the evaluation result of the positioning accuracy, and before the evaluation result provision step, it has a judgment step for determining whether or not to adopt the three-dimensional position positioning data based on the evaluation result of the positioning accuracy evaluated in the accuracy evaluation step and a predetermined allowable error, and if it is determined that the positioning data cannot be adopted, it further has a correction evaluation step for obtaining a correction result of the three-dimensional position using the depth data, and then comparing the correction result with internal information including the underwater vehicle's track information to reevaluate the accuracy of the correction result, and provides the reevaluation result together with the correction result .
According to the present invention described in claim 1, operators and the like can compare the depth based on the three-dimensional position at the same time with the depth data to determine the accuracy of the underwater vehicle's positioning coordinates, thereby enhancing monitoring of the underwater vehicle. Furthermore, a determination result on whether or not to adopt the three-dimensional positioning data can be provided based on a predetermined tolerance, and, for example, only positioning data with a predetermined level of accuracy or higher can be provided to operators and the like. Furthermore, since some erroneous detected coordinates that were previously discarded can now be used, positioning opportunities can be utilized without waste.
請求項２記載の本発明は、音響測位装置の測位方式は、音響測位装置から水中航走体までの距離と音響測位装置に対する水中航走体の方位を計測する測位方式であることを特徴とする。
請求項２に記載の本発明によれば、距離と方位に基づいて水中航走体の３次元位置を測位し、その精度の評価と、測位値の補正を行うことができる。
The present invention as set forth in claim 2 is characterized in that the positioning method of the acoustic positioning device is a positioning method that measures the distance from the acoustic positioning device to the underwater vehicle and the orientation of the underwater vehicle relative to the acoustic positioning device.
According to the second aspect of the present invention, the three-dimensional position of the underwater vehicle can be measured based on the distance and direction, and the accuracy of the measurement can be evaluated and the measured position can be corrected.
請求項３記載の本発明は、測位方式は、ＳＢＬ（Short Base Line）方式、ＳＳＢＬ（Super Short Base Line）方式のいずれかであることを特徴とする。
請求項３に記載の本発明によれば、水中航走体の３次元位置を測位し、その精度の評価と、測位値の補正を行うことができる。
The present invention as defined in claim 3 is characterized in that the positioning method is either an SBL (Short Base Line) method or an SSBL (Super Short Base Line) method.
According to the present invention as set forth in claim 3 , the three-dimensional position of the underwater vehicle can be measured, the accuracy of the measurement can be evaluated, and the measured position can be corrected.
請求項４記載の本発明は、精度評価ステップにおける３次元位置の測位の精度の評価に当たり、距離と方位を用いて評価することを特徴とする。
請求項４に記載の本発明によれば、距離と方位に基づいて測位の精度の評価を正確に行うことができる。
The present invention as set forth in claim 4 is characterized in that the accuracy of the three-dimensional position measurement in the accuracy evaluation step is evaluated using distance and direction.
According to the fourth aspect of the present invention , the accuracy of positioning can be accurately evaluated based on the distance and the direction.
請求項５記載に対応した水中航走体の音響測位処理プログラムにおいては、水中航走体の位置を測位した結果を処理する音響測位処理プログラムであって、コンピュータに、水中航走体の音響測位処理方法における、測位データ取得ステップ、深度データ取得ステップ、精度評価ステップ、評価結果提供ステップ、及び補正評価ステップを実行させることを特徴とする。
請求項５に記載の本発明によれば、水中航走体の音響測位処理方法を、より正確かつ迅速に実行し、水中航走体の測位座標がどの程度正確なのかを知ることができる。また、従来は破棄していた一部の誤検出座標が利用可能となるため、測位機会を無駄なく活用することができる。
The acoustic positioning processing program for an underwater vehicle corresponding to the claim 5 is an acoustic positioning processing program that processes the results of positioning the position of the underwater vehicle, and is characterized in that it causes a computer to execute a positioning data acquisition step, a depth data acquisition step, an accuracy evaluation step , an evaluation result provision step , and a correction evaluation step in an acoustic positioning processing method for an underwater vehicle.
According to the present invention as set forth in claim 5 , the acoustic positioning processing method for an underwater vehicle can be executed more accurately and quickly, and the accuracy of the positioning coordinates of the underwater vehicle can be known. In addition, since some erroneous detected coordinates that were previously discarded can now be used, positioning opportunities can be utilized without waste.
請求項６記載の本発明は、コンピュータに判断ステップを実行させることを特徴とする。
請求項６に記載の本発明によれば、予め定めた許容誤差に基づいて３次元位置の測位データの採用の可否の判断結果を提供でき、例えば、所定以上の精度を有する測位データのみを運用者等に提供することができる。
The present invention as set forth in claim 6 is characterized in that the decision step is executed by a computer.
According to the present invention described in claim 6 , it is possible to provide a judgment result on whether or not to adopt three-dimensional position measurement data based on a predetermined allowable error, and, for example, it is possible to provide only position measurement data having an accuracy above a predetermined level to an operator, etc.
請求項７記載に対応した水中航走体の音響測位処理システムにおいては、水中航走体の位置を測位した結果を処理する音響測位処理システムであって、少なくとも深度計を備えた水中航走体の３次元位置を音響測位装置で測位したデータを取得する測位データ取得手段と、水中航走体の深度計の深度データを取得する深度データ取得手段と、同時刻における３次元位置に基づいた深度と深度データとを比較し３次元位置の測位の精度を評価する精度評価手段と、測位の精度の評価結果を提供する評価結果提供手段と、精度評価手段で評価した測位の精度の評価結果と、予め定めた許容誤差とに基づいて３次元位置の測位データの採用の可否を判断する判断手段と、測位データが採用できないと判断された場合に、深度データを用いて３次元位置の補正結果を得たのち、補正結果を水中航走体の航跡情報を含む内部情報と比較して補正結果を再評価する補正評価手段をさらに備え、補正結果と共に再評価結果を提供することを特徴とする。
請求項７に記載の本発明によれば、運用者等は同時刻における３次元位置に基づいた深度と深度データとを比較し、水中航走体の測位座標がどの程度正確なのかを知ることができ、水中航走体に対する監視の充実化を図ることができる。また、予め定めた許容誤差に基づいて３次元位置の測位データの採用の可否の判断結果を提供でき、例えば、所定以上の精度を有する測位データのみを運用者等に提供することができる。また、従来は破棄していた一部の誤検出座標が利用可能となるため、測位機会を無駄なく活用することができる。
An acoustic positioning processing system for an underwater vehicle corresponding to claim 7 is an acoustic positioning processing system that processes the results of positioning the position of an underwater vehicle, and is characterized in that it further comprises a positioning data acquisition means for acquiring data on the three-dimensional position of an underwater vehicle equipped with at least a depth meter, measured using an acoustic positioning device; a depth data acquisition means for acquiring depth data from the underwater vehicle's depth meter; an accuracy evaluation means for comparing the depth based on the three-dimensional position at the same time with the depth data to evaluate the accuracy of the three-dimensional position measurement; an evaluation result providing means for providing the evaluation result of the positioning accuracy; a judgment means for determining whether or not to adopt the three-dimensional position measurement data based on the evaluation result of the positioning accuracy evaluated by the accuracy evaluation means and a predetermined allowable error; and a correction evaluation means for, if it is determined that the positioning data cannot be adopted, obtaining a correction result for the three-dimensional position using the depth data, and then comparing the correction result with internal information including the underwater vehicle's track information to re-evaluate the correction result, and providing the re-evaluation result together with the correction result .
According to the seventh aspect of the present invention , operators and the like can compare the depth based on the three-dimensional position at the same time with the depth data to determine the accuracy of the underwater vehicle's positioning coordinates, thereby enhancing monitoring of the underwater vehicle. Furthermore, a determination result on whether or not to adopt the three-dimensional positioning data can be provided based on a predetermined tolerance, and, for example, only positioning data with a predetermined level of accuracy or higher can be provided to operators and the like. Furthermore, since some erroneous detected coordinates that were previously discarded can now be used, positioning opportunities can be utilized without waste.
請求項８記載の本発明は、音響測位装置の測位方式は、音響測位装置から水中航走体までの距離と、音響測位装置に対する水中航走体の方位を計測する測位方式であることを特徴とする。
請求項８に記載の本発明によれば、距離と方位に基づいて水中航走体の３次元位置を測位し、その精度の評価と、測位値の補正を行うことができる。
The present invention as set forth in claim 8 is characterized in that the positioning method of the acoustic positioning device is a positioning method that measures the distance from the acoustic positioning device to the underwater vehicle and the orientation of the underwater vehicle relative to the acoustic positioning device.
According to the eighth aspect of the present invention, the three-dimensional position of the underwater vehicle can be measured based on the distance and direction, and the accuracy of the measurement can be evaluated and the measured position can be corrected.
請求項９記載の本発明は、測位方式は、ＳＢＬ（Short Base Line）方式、ＳＳＢＬ（Super Short Base Line）方式のいずれかであることを特徴とする。
請求項９に記載の本発明によれば、水中航走体の３次元位置を測位し、その精度の評価と、測位値の補正を行うことができる。
In a ninth aspect of the present invention , the positioning method is either an SBL (Short Base Line) method or an SSBL (Super Short Base Line) method.
According to the ninth aspect of the present invention , the three-dimensional position of the underwater vehicle can be measured, the accuracy of the measurement can be evaluated, and the measured position can be corrected.
本発明の水中航走体の音響測位処理方法によれば、運用者等は同時刻における３次元位置に基づいた深度と深度データとを比較し、水中航走体の測位座標がどの程度正確なのかを知ることができ、水中航走体に対する監視の充実化を図ることができる。 The acoustic positioning processing method for underwater vehicles of the present invention allows operators to compare depth data with depth based on the three-dimensional position at the same time, allowing them to determine the accuracy of the underwater vehicle's positioning coordinates, thereby improving monitoring of the underwater vehicle.
また、評価結果提供ステップの前に、精度評価ステップで評価した測位の精度の評価結果と、予め定めた許容誤差とに基づいて３次元位置の測位データの採用の可否を判断する判断ステップを有する場合には、予め定めた許容誤差に基づいて３次元位置の測位データの採用の可否の判断結果を提供でき、例えば、所定以上の精度を有する測位データのみを運用者等に提供することができる。 Furthermore, if there is a judgment step before the evaluation result provision step in which the evaluation result of the positioning accuracy evaluated in the accuracy evaluation step and a predetermined allowable error are used to determine whether or not to adopt the three-dimensional position measurement data, the judgment result on whether or not to adopt the three-dimensional position measurement data can be provided based on the predetermined allowable error, and, for example, only positioning data with a predetermined or higher accuracy can be provided to the operator, etc.
また、測位データが採用できないと判断された場合に、深度データを用いて３次元位置の補正結果を得たのち、補正結果を水中航走体の航跡情報を含む内部情報と比較して補正結果の精度を再評価する補正評価ステップをさらに有し、補正結果と共に再評価結果を提供する場合には、従来は破棄していた一部の誤検出座標が利用可能となるため、測位機会を無駄なく活用することができる。 In addition, if it is determined that the positioning data cannot be used, the system further includes a correction evaluation step in which a correction result for the three-dimensional position is obtained using the depth data, and then the correction result is compared with internal information, including the underwater vehicle's track information, to reevaluate the accuracy of the correction result.If the reevaluation result is provided along with the correction result, some of the erroneous detected coordinates that would previously have been discarded can be used, making it possible to make full use of positioning opportunities.
また、音響測位装置の測位方式は、音響測位装置から水中航走体までの距離と音響測位装置に対する水中航走体の方位を計測する測位方式である場合には、距離と方位に基づいて水中航走体の３次元位置を測位し、その精度の評価と、測位値の補正を行うことができる。 Furthermore, if the positioning method used by the acoustic positioning device is a method that measures the distance from the acoustic positioning device to the underwater vehicle and the orientation of the underwater vehicle relative to the acoustic positioning device, the three-dimensional position of the underwater vehicle can be determined based on the distance and orientation, and the accuracy can be evaluated and the positioning value can be corrected.
また、測位方式は、ＳＢＬ（Short Base Line）方式、ＳＳＢＬ（Super Short Base Line）方式のいずれかである場合には、水中航走体の３次元位置を測位し、その精度の評価と、測位値の補正を行うことができる。 In addition, if the positioning method is either the SBL (Short Base Line) method or the SSBL (Super Short Base Line) method, the three-dimensional position of the underwater vehicle can be measured, its accuracy can be evaluated, and the measured position values can be corrected.
また、精度評価ステップにおける３次元位置の測位の精度の評価に当たり、距離と方位を用いて評価する場合には、距離と方位に基づいて測位の精度の評価を正確に行うことができる。 Furthermore, when evaluating the accuracy of three-dimensional position measurement in the accuracy evaluation step, if evaluation is performed using distance and direction, the accuracy of position measurement can be accurately evaluated based on distance and direction.
また、本発明の水中航走体の音響測位処理プログラムによれば、水中航走体の音響測位処理方法を、より正確かつ迅速に実行し、水中航走体の測位座標がどの程度正確なのかを知ることができる。 Furthermore, the acoustic positioning processing program for an underwater vehicle of the present invention allows the acoustic positioning processing method for an underwater vehicle to be executed more accurately and quickly, making it possible to determine the accuracy of the underwater vehicle's positioning coordinates.
また、コンピュータに、判断ステップを実行させる場合には、予め定めた許容誤差に基づいて３次元位置の測位データの採用の可否の判断結果を提供でき、例えば、所定以上の精度を有する測位データのみを運用者等に提供することができる。 Furthermore, when the computer is made to execute the judgment step, it is possible to provide a judgment result on whether or not to adopt the three-dimensional position measurement data based on a predetermined tolerance, and, for example, only position measurement data with a predetermined level of accuracy or higher can be provided to the operator, etc.
また、コンピュータに、補正評価ステップを実行させる場合には、従来は破棄していた一部の誤検出座標が利用可能となるため、測位機会を無駄なく活用することができる。 In addition, when the computer executes the correction evaluation step, some of the erroneous detection coordinates that were previously discarded can be used, allowing positioning opportunities to be utilized without waste.
また、本発明の水中航走体の音響測位処理システムによれば、運用者等は同時刻における３次元位置に基づいた深度と深度データとを比較し、水中航走体の測位座標がどの程度正確なのかを知ることができ、水中航走体に対する監視の充実化を図ることができる。 Furthermore, with the acoustic positioning processing system for underwater vehicles of the present invention, operators can compare depth data based on the three-dimensional position at the same time and determine the accuracy of the underwater vehicle's positioning coordinates, thereby improving monitoring of the underwater vehicle.
また、精度評価手段で評価した測位の精度の評価結果と、予め定めた許容誤差とに基づいて３次元位置の測位データの採用の可否を判断する判断手段をさらに備えた場合には、予め定めた許容誤差に基づいて３次元位置の測位データの採用の可否の判断結果を提供でき、例えば、所定以上の精度を有する測位データのみを運用者等に提供することができる。 Furthermore, if the system is further equipped with a judgment means for determining whether or not to adopt the three-dimensional position measurement data based on the evaluation result of the positioning accuracy evaluated by the accuracy evaluation means and a predetermined allowable error, it is possible to provide a judgment result on whether or not to adopt the three-dimensional position measurement data based on the predetermined allowable error, and, for example, only positioning data with a predetermined or higher accuracy can be provided to the operator, etc.
また、測位データが採用できないと判断された場合に、深度データを用いて３次元位置の補正結果を得たのち、補正結果を水中航走体の航跡情報を含む内部情報と比較して補正結果を再評価する補正評価手段をさらに備え、補正結果と共に再評価結果を提供する場合には、従来は破棄していた一部の誤検出座標が利用可能となるため、測位機会を無駄なく活用することができる。 In addition, if it is determined that the positioning data cannot be used, the system is further equipped with a correction evaluation means that uses depth data to obtain a correction result for the three-dimensional position, and then compares the correction result with internal information, including the underwater vehicle's track information, to reevaluate the correction result.When the reevaluation result is provided along with the correction result, some of the erroneous detected coordinates that would previously have been discarded can be used, making it possible to make full use of positioning opportunities.
また、音響測位装置の測位方式は、音響測位装置から水中航走体までの距離と、音響測位装置に対する水中航走体の方位を計測する測位方式である場合には、距離と方位に基づいて水中航走体の３次元位置を測位し、その精度の評価と、測位値の補正を行うことができる。 Furthermore, if the positioning method used by the acoustic positioning device is a method that measures the distance from the acoustic positioning device to the underwater vehicle and the orientation of the underwater vehicle relative to the acoustic positioning device, the three-dimensional position of the underwater vehicle can be determined based on the distance and orientation, and the accuracy can be evaluated and the positioning value can be corrected.
また、測位方式は、ＳＢＬ（Short Base Line）方式、ＳＳＢＬ（Super Short Base Line）方式のいずれかである場合には、水中航走体の３次元位置を測位し、その精度の評価と、測位値の補正を行うことができる。 In addition, if the positioning method is either the SBL (Short Base Line) method or the SSBL (Super Short Base Line) method, the three-dimensional position of the underwater vehicle can be measured, its accuracy can be evaluated, and the measured position values can be corrected.
本発明の実施形態による水中航走体の音響測位処理方法、音響測位処理プログラム、及び音響測位処理システムについて説明する。
図１は水中航走体の音響測位処理方法のフロー図、図２は水中航走体の音響測位処理システムを機能実現手段で表した機能ブロック図である。
図２では、海洋や湖沼等において、母船１に積載して運搬してきた水中航走体２を調査水域に投入し、水底を探査することにより鉱物資源やエネルギー資源等の探査を行う状態を示している。
母船１は、電波の届かない水中で水底の探査を行う水中航走体２に対して音響信号を利用した管制を行う。母船１には、音響測位処理システムが搭載されており、音響測位処理システムは、音響測位装置１０、情報取得装置２０、及びコンピュータ３０を備え、音響測位処理方法を実行する。コンピュータ３０は、測位データ取得手段３１、深度データ取得手段３２、精度評価手段３３、判断手段３４、補正評価手段３５、及び評価結果提供手段３６を備えると共に、音響測位処理プログラムがインストールされている。
水中航走体２は、ＡＵＶ（Ａｕｔｏｎｏｍｏｕｓ Ｕｎｄｅｒｗａｔｅｒ Ｖｅｈｉｃｌｅ、無人かつ無索で自律航走するロボット）などであり、深度計４０、及びＩＮＳ（Inertial Navigation System）装置５０を備える。
An acoustic positioning processing method, an acoustic positioning processing program, and an acoustic positioning processing system for an underwater vehicle according to an embodiment of the present invention will be described.
FIG. 1 is a flow diagram of an acoustic positioning processing method for an underwater vehicle, and FIG. 2 is a functional block diagram showing an acoustic positioning processing system for an underwater vehicle in terms of function realization means.
Figure 2 shows the state in which an underwater vehicle 2, which has been loaded onto a mother ship 1 and transported to a survey area in the ocean, lakes, or other areas, is launched into the survey area and explores the bottom of the water to explore mineral resources, energy resources, etc.
A mother ship 1 uses acoustic signals to control an underwater vehicle 2 that explores the bottom of water in areas where radio waves cannot reach. The mother ship 1 is equipped with an acoustic positioning processing system, which includes an acoustic positioning device 10, an information acquisition device 20, and a computer 30 and executes an acoustic positioning processing method. The computer 30 includes a positioning data acquisition means 31, a depth data acquisition means 32, an accuracy evaluation means 33, a determination means 34, a correction evaluation means 35, and an evaluation result provision means 36, and has an acoustic positioning processing program installed.
The underwater vehicle 2 is an AUV (Autonomous Underwater Vehicle, an unmanned, untethered, autonomously navigating robot) or the like, and is equipped with a depth meter 40 and an INS (Inertial Navigation System) device 50 .
音響測位処理方法は、図１に示すように、まず、水中で音波を用いて水中航走体２の３次元位置を測位したデータを取得する（Ｓ１：測位データ取得ステップ）。
測位データ取得ステップＳ１においては、水面に位置する母船１から、水中に位置する水中航走体２を音響測位装置１０により測位し、これにより取得した水中航走体２の３次元位置のデータを、測位データ取得手段３１によってコンピュータ３０に取り込む。
音響測位装置１０の測位方式は、音響測位装置１０から水中航走体２までの距離と、音響測位装置１０に対する水中航走体２の方位を計測する測位方式である。これにより、距離と方位に基づいて水中航走体２の３次元位置を測位し、その精度の評価と、測位値の補正を行うことができる。
また、音響測位装置１０の測位方式は、水中に計測機器の設置が必要なＬＢＬ（Long Base Line）方式に比べ簡素なＳＢＬ（Short Base Line）方式、又はＳＳＢＬ（Super Short Base Line）方式であることが好ましい。ここで、図３はＳＢＬ方式及びＳＳＢＬ方式の測位模式図である。ＳＢＬ方式もＳＳＢＬ方式も、母船１（親機）と水中航走体２（子機）の間で音を往復させ、親機からの相対位置を求めること、及び音波の到来方位の検出と距離の検出により子機の３次元座標を求めることは同じである。ＳＢＬ方式とＳＳＢＬ方式の違いは装置の規模の大小で判断されるが、測位の原理は同じなので、ＳＳＢＬ方式のことをＳＢＬ方式と呼ぶ場合もある。測位方式を、ＳＢＬ方式、又はＳＳＢＬ方式のどちらかとすることで、水中航走体２の３次元位置を測位し、その精度の評価と、測位値の補正を行うことができる。
As shown in FIG. 1, the acoustic positioning processing method first acquires data obtained by measuring the three-dimensional position of the underwater vehicle 2 using sound waves in water (S1: positioning data acquisition step).
In the positioning data acquisition step S1, the underwater vehicle 2 located underwater is positioned from the mother ship 1 located on the water surface using an acoustic positioning device 10, and the three-dimensional position data of the underwater vehicle 2 obtained in this way is input into the computer 30 by the positioning data acquisition means 31.
The positioning method of the acoustic positioning device 10 is a method of measuring the distance from the acoustic positioning device 10 to the underwater vehicle 2 and the orientation of the underwater vehicle 2 relative to the acoustic positioning device 10. This makes it possible to determine the three-dimensional position of the underwater vehicle 2 based on the distance and orientation, evaluate the accuracy of the positioning, and correct the positioning value.
Furthermore, the positioning method of the acoustic positioning device 10 is preferably the SBL (Short Base Line) method or the SSBL (Super Short Base Line) method, which are simpler than the LBL (Long Base Line) method, which requires the installation of measuring equipment underwater. Here, FIG. 3 is a schematic diagram of the SBL and SSBL method. Both the SBL and SSBL methods transmit sound back and forth between a mother ship 1 (parent unit) and an underwater vehicle 2 (child unit) to determine the relative position from the parent unit, and determine the three-dimensional coordinates of the child unit by detecting the direction of arrival of the sound waves and the distance. The difference between the SBL and SSBL methods is determined by the size of the device, but because the positioning principle is the same, the SSBL method is sometimes referred to as the SBL method. By using either the SBL or SSBL method as the positioning method, the three-dimensional position of the underwater vehicle 2 can be determined, its accuracy can be evaluated, and the positioning value can be corrected.
測位データ取得ステップＳ１の後、水中航走体２の深度データを取得する（Ｓ２：深度データ取得ステップ）。
深度データ取得ステップＳ２においては、水中航走体２に設けられた深度計４０によって計測されたデータである深度データを、コンピュータ３０が取得する。深度データは、水中航走体２から音響信号を利用して母船１に送信され、母船１では深度データを情報取得手段で受信し、深度データ取得手段３２によってコンピュータ３０に取り込む。
After the positioning data acquisition step S1, depth data of the underwater vehicle 2 is acquired (S2: depth data acquisition step).
In the depth data acquisition step S2, the computer 30 acquires depth data measured by the depth meter 40 provided on the underwater vehicle 2. The depth data is transmitted from the underwater vehicle 2 to the mother ship 1 using an acoustic signal, and the depth data is received by the information acquisition means of the mother ship 1 and imported into the computer 30 by the depth data acquisition means 32.
深度データ取得ステップＳ２の後、同時刻における、３次元位置に基づいた深度と、深度データとを比較し、３次元位置の測位の精度を評価する（Ｓ３：精度評価ステップ）。なお、深度データ取得ステップＳ２においては、所定周期又は指示信号に基づいて水中航走体２から深度データを取得する。これは、連続的ではなく離散的な取得である。また、取得する深度データは、基本的には時刻ごとの値であるが、水中航走体２に記憶手段を設けておくことにより、連続的な深度データも取得可能である。ただし、精度評価ステップＳ３において、３次元位置に基づいた深度と深度データとを比較するには、深度と深度データとの時刻を合わせ、離散的なデータは補完して比較する必要がある。こうすることにより任意の同時刻での比較が可能となり、詳細に正しい３次元位置の測位の精度の評価ができ、所定以上の精度を有する測位データのみを運用者等に提供することも可能となる。
この前提として、音響測位装置１０と水中航走体２で、既知の方法の計時手段を用いて時間軸を合わせておくことが重要であり、また、記憶手段を併用する場合は、測位データや深度データの記録とともに、時刻情報を記録しておくことが必要である。
ＳＢＬ方式、又はＳＳＢＬ方式の音響測位手法は、測位対象の方位と距離を検出することで３次元座標を求めており、周囲のノイズやマルチパス等の影響で、方位と距離のいずれか、又は双方にエラーが含まれると測位は成り立たない。そこで、精度評価ステップＳ３における３次元位置の測位の精度の評価にあたっては、距離と方位を用いて評価する。これにより、距離と方位に基づいて測位の精度の評価を正確に行うことができる。
精度評価ステップＳ３において、精度評価手段３３は、深度データを指標として、当該指標と、音響測位装置１０によって測位された水中航走体２の３次元位置のデータから求まる深度との差に基づいて、音響測位装置１０による測位の精度を評価する。
精度評価手段３３は、音響測位装置１０によって取得した３次元位置（測位座標）について、指標となる深度データと３次元位置に基づいた深度との差が基準値外となっている場合は、誤検知又は基準精度を満たしていない（低精度）と評価し、両者の差が基準値内となっている場合は、正しく検知され基準精度を満たしている（高精度）と評価する。
After the depth data acquisition step S2, the depth based on the three-dimensional position at the same time is compared with the depth data, and the accuracy of the three-dimensional position positioning is evaluated (S3: accuracy evaluation step). In the depth data acquisition step S2, depth data is acquired from the underwater vehicle 2 at a predetermined interval or based on an instruction signal. This acquisition is discrete rather than continuous. The acquired depth data is basically a value for each time period, but continuous depth data can also be acquired by providing storage means in the underwater vehicle 2. However, to compare the depth based on the three-dimensional position with the depth data in the accuracy evaluation step S3, the depth and depth data must be time-aligned, and the discrete data must be complemented and compared. This enables comparison at any given time, allowing for a detailed and accurate evaluation of the accuracy of the three-dimensional position positioning, and making it possible to provide only positioning data with a predetermined accuracy or higher to the operator, etc.
As a prerequisite for this, it is important to align the time axes of the acoustic positioning device 10 and the underwater vehicle 2 using a known timing means, and if a memory means is also used, it is necessary to record time information along with the positioning data and depth data.
The SBL or SSBL acoustic positioning method determines three-dimensional coordinates by detecting the direction and distance of the target, and positioning is not possible if there is an error in either or both of the direction and distance due to the influence of surrounding noise, multipath, etc. Therefore, when evaluating the accuracy of the three-dimensional position positioning in the accuracy evaluation step S3, the evaluation is performed using the distance and direction. This allows the positioning accuracy to be accurately evaluated based on the distance and direction.
In the accuracy evaluation step S3, the accuracy evaluation means 33 uses the depth data as an index and evaluates the accuracy of the positioning by the acoustic positioning device 10 based on the difference between the index and the depth obtained from the three-dimensional position data of the underwater vehicle 2 positioned by the acoustic positioning device 10.
If the difference between the depth data serving as an index and the depth based on the three-dimensional position (positioning coordinates) acquired by the acoustic positioning device 10 is outside the standard value, the accuracy evaluation means 33 evaluates it as a false detection or as not meeting the standard accuracy (low accuracy), and if the difference between the two is within the standard value, it evaluates it as being correctly detected and meeting the standard accuracy (high accuracy).
次に、精度評価ステップＳ３で評価した測位の精度の評価結果と、予め定めた許容誤差とに基づいて３次元位置の測位データの採用の可否を判断する（Ｓ４：判断ステップ）。
判断ステップＳ４において、判断手段３４は、精度評価手段３３による評価が高精度であった場合、又は精度評価手段３３による評価が低精度ではあるが許容誤差内であると判断した場合は、その３次元位置の測位データは採用可（ＹＥＳ）と判断し、精度評価手段３３による評価が誤検知、又は低精度であり許容誤差からも外れていると判断した場合は、その３次元位置の測位データは採用不可（ＮＯ）と判断する。
このように判断ステップＳ４を有することで、予め定めた許容誤差に基づいて３次元位置の測位データの採用の可否の判断結果を提供でき、例えば、所定以上の精度を有する測位データのみを運用者等に提供することができる。
Next, it is determined whether or not the three-dimensional position measurement data can be adopted based on the evaluation result of the positioning accuracy evaluated in the accuracy evaluation step S3 and a predetermined allowable error (S4: determination step).
In judgment step S4, if the judgment means 34 determines that the evaluation by the accuracy evaluation means 33 is highly accurate, or that the evaluation by the accuracy evaluation means 33 is low accuracy but within the allowable error, it judges that the three-dimensional position measurement data can be used (YES), and if it determines that the evaluation by the accuracy evaluation means 33 is a false detection or low accuracy that is outside the allowable error, it judges that the three-dimensional position measurement data cannot be used (NO).
By having this judgment step S4, it is possible to provide a judgment result on whether or not to adopt the three-dimensional position positioning data based on a predetermined allowable error, and for example, it is possible to provide only positioning data with a predetermined or higher accuracy to an operator, etc.
判断ステップＳ４において測位データが採用できると判断された場合、測位の精度の評価結果を提供する（Ｓ５：評価結果提供ステップ）。
評価結果提供ステップＳ５においては、評価結果提供手段３６が、音響測位装置１０により取得した水中航走体２の測位座標と、測位の精度の評価結果を運用者等に提供する。評価結果の提供は、画面への表示や印刷等により行われる。
音響測位装置１０により取得した水中航走体２の測位座標をその妥当性評価と共に提供することで、運用者等は同時刻における３次元位置に基づいた深度と深度データとを比較し、水中航走体２の測位座標がどの程度正確なのかを知ることができ、水中航走体２に対する監視の充実化を図ることができる。
If it is determined in the determination step S4 that the positioning data can be adopted, an evaluation result of the positioning accuracy is provided (S5: evaluation result providing step).
In the evaluation result providing step S5, the evaluation result providing means 36 provides the operator, etc. with the positioning coordinates of the underwater vehicle 2 acquired by the acoustic positioning device 10 and the evaluation result of the positioning accuracy. The evaluation result is provided by displaying it on a screen, printing it, etc.
By providing the positioning coordinates of the underwater vehicle 2 obtained by the acoustic positioning device 10 along with an evaluation of their validity, operators and others can compare the depth based on the three-dimensional position at the same time with the depth data, and know how accurate the positioning coordinates of the underwater vehicle 2 are, thereby improving monitoring of the underwater vehicle 2.
一方、判断ステップＳ４において測位データが採用できないと判断された場合は、深度データを用いて３次元位置の補正結果を得たのち、補正結果を水中航走体２の航跡情報を含む内部情報と比較して補正結果の精度を再評価する（Ｓ６：補正評価ステップ）。
補正評価ステップＳ６においては、補正評価手段３５が、深度計４０の値を補正値６０として、音響測位装置１０により取得した水中航走体２の測位座標を修正することにより補正結果を得る。
ここで、図４は深度計情報による測位距離補正の模式図である。図４（ａ）は、音響測位装置１０による測位に基づく誤った水中航走体２の検出位置を示している。距離検出にエラーが生じたことにより、音響測位装置１０で測位した結果により求めた深度（測位深度）が、実際の水中航走体２の深度（深度計）よりも大きくなってしまっている。
図４（ｂ）は補正後の水中航走体２の検出位置を示している。判断手段３４が誤検知又は低精度と判断した測位データであっても、深度計４０の値から距離検出のエラーを補正可能である。よって、距離検出のエラーが含まれる測位データを深度計４０の値を基に補正することで、水中航走体２の正しい座標を求めることができる。
そして、補正後の水中航走体２の３次元位置（座標）は、信頼できる他の測位座標との比較や、水中航走体２の航跡情報等の内部情報との照合によって再度その精度が評価される。なお、水中航走体２の航跡情報等の内部情報に関するデータは、水中航走体２に設けられたＩＮＳ装置５０によって収集され、水中航走体２から音響信号を利用して母船１に送信され、情報取得手段で受信されたのちコンピュータ３０に取り込まれる。
On the other hand, if it is determined in decision step S4 that the positioning data cannot be used, the depth data is used to obtain a correction result for the three-dimensional position, and then the correction result is compared with internal information including the track information of the underwater vehicle 2 to reevaluate the accuracy of the correction result (S6: correction evaluation step).
In the correction evaluation step S6, the correction evaluation means 35 obtains a correction result by correcting the positioning coordinates of the underwater vehicle 2 acquired by the acoustic positioning device 10 using the value of the depth meter 40 as a correction value 60.
4A and 4B are schematic diagrams illustrating the correction of the positioning distance using depth meter information. Fig. 4A shows an incorrect detected position of the underwater vehicle 2 based on positioning by the acoustic positioning device 10. Due to an error in distance detection, the depth (measured depth) determined from the positioning results by the acoustic positioning device 10 is greater than the actual depth (depth meter) of the underwater vehicle 2.
4(b) shows the detected position of the underwater vehicle 2 after correction. Even if the determination means 34 determines that the positioning data is a false detection or has low accuracy, it is possible to correct the distance detection error from the value of the depth meter 40. Therefore, by correcting the positioning data that includes the distance detection error based on the value of the depth meter 40, it is possible to determine the correct coordinates of the underwater vehicle 2.
The accuracy of the corrected three-dimensional position (coordinates) of the underwater vehicle 2 is then reevaluated by comparing it with other reliable positioning coordinates and with internal information such as track information of the underwater vehicle 2. Data on internal information such as track information of the underwater vehicle 2 is collected by an INS device 50 provided in the underwater vehicle 2, transmitted from the underwater vehicle 2 to the mother ship 1 using acoustic signals, received by information acquisition means, and then taken into the computer 30.
補正評価ステップＳ６の後は、評価結果提供ステップＳ５に移行し、評価結果提供手段３６により、補正結果及び再評価結果が運用者等に提供される。
このように、誤検知又は低精度と判断された測位データであっても、深度計４０の値から距離検出のエラーを補正し、信頼できる他のデータと比較及び照合して再評価することで、従来は破棄していた一部の誤検出座標（距離は不正確だが方位検出は正確な測位データ）が利用可能となる。これにより、特に、水中航走体２が大深度に位置する場合や、母船１と水中航走体２との水平距離が遠い場合など、悪条件のため水中航走体２からの応答を得る機会が限られる場面において、母船１からの数少ない測位機会を無駄なく活用することができる。
なお、補正評価ステップＳ６の後、判断ステップＳ４に再度移行し、補正評価ステップＳ６で評価した測位の精度の再評価結果と、予め定めた許容誤差とに基づいて、補正後の測位データの採用の可否を判断してもよい。再度の採用判断を行うことで、所定の基準をクリアした信頼性の高い測位データのみを運用者等に提供することができる。この場合、再度の判断ステップＳ４においても所定の基準をクリアしない測位データは、エラーとして破棄する。
After the correction evaluation step S6, the process proceeds to the evaluation result providing step S5, in which the evaluation result providing means 36 provides the correction results and re-evaluation results to the operator or the like.
In this way, even for positioning data that has been determined to be a false detection or of low accuracy, some falsely detected coordinates (positioning data in which the distance is inaccurate but the direction is accurate) that would previously have been discarded can be used by correcting distance detection errors from the values of the depth meter 40 and re-evaluating the data by comparing and collating with other reliable data. This makes it possible to make full use of the few positioning opportunities from the mother ship 1, particularly in situations where opportunities to obtain a response from the underwater vehicle 2 are limited due to adverse conditions, such as when the underwater vehicle 2 is located at great depths or when the horizontal distance between the mother ship 1 and the underwater vehicle 2 is long.
After the correction evaluation step S6, the process may proceed again to the determination step S4, where it may be determined whether or not to adopt the corrected positioning data based on the re-evaluation result of the positioning accuracy evaluated in the correction evaluation step S6 and a predetermined allowable error. By making a second adoption determination, only highly reliable positioning data that meets a predetermined standard can be provided to the operator, etc. In this case, positioning data that does not meet the predetermined standard even in the second determination step S4 is discarded as an error.
以上説明したように、本発明の水中航走体の音響測位処理方法、及び音響測位処理システムによれば、運用者等は音響測位結果の信頼性の程度を把握することができる。
また、音響測位処理プログラムを用い、コンピュータ３０に、水中航走体の音響測位処理方法における、測位データ取得ステップＳ１、深度データ取得ステップＳ２、精度評価ステップＳ３、及び評価結果提供ステップＳ５を実行させることで、水中航走体の音響測位処理方法を、より正確かつ迅速に実行し、水中航走体２の測位座標がどの程度正確なのかを知ることができる。
また、コンピュータ３０に、判断ステップＳ４を実行させることで、予め定めた許容誤差に基づいて３次元位置の測位データの採用の可否の判断結果を提供でき、例えば、所定以上の精度を有する測位データのみを運用者等に提供することができる。
また、コンピュータ３０に、補正評価ステップＳ６を実行させることで、従来は破棄していた一部の誤検出座標が利用可能となるため、母船１からの数少ない測位機会を無駄なく活用することができる。
As described above, the acoustic positioning processing method and acoustic positioning processing system for an underwater vehicle of the present invention allow operators and the like to grasp the degree of reliability of the acoustic positioning results.
In addition, by using an acoustic positioning processing program and having the computer 30 execute the positioning data acquisition step S1, depth data acquisition step S2, accuracy evaluation step S3, and evaluation result provision step S5 in the acoustic positioning processing method for an underwater vehicle, the acoustic positioning processing method for an underwater vehicle can be executed more accurately and quickly, and it is possible to know how accurate the positioning coordinates of the underwater vehicle 2 are.
Furthermore, by having the computer 30 execute the judgment step S4, it is possible to provide a judgment result on whether or not to adopt the three-dimensional position positioning data based on a predetermined allowable error, and for example, it is possible to provide only positioning data with a predetermined or higher accuracy to the operator, etc.
Furthermore, by having the computer 30 execute the correction evaluation step S6, some of the erroneously detected coordinates that would previously have been discarded can be used, making it possible to make full use of the few positioning opportunities available from the mother ship 1.
本発明を適用することで、海洋や湖沼等で作業を行う水中航走体の位置を高精度に把握することができるため、作業の安全性や効率の向上に寄与する。 By applying this invention, the position of underwater vehicles performing work in oceans, lakes, and other areas can be determined with high accuracy, contributing to improved work safety and efficiency.
２ 水中航走体
１０ 音響測位装置
３０ コンピュータ
３１ 測位データ取得手段
３２ 深度データ取得手段
３３ 精度評価手段
３４ 判断手段
３５ 補正評価手段
３６ 評価結果提供手段
４０ 深度計
５０ ＩＮＳ装置
６０ 補正値
Ｓ１ 測位データ取得ステップ
Ｓ２ 深度データ取得ステップ
Ｓ３ 精度評価ステップ
Ｓ４ 判断ステップ
Ｓ５ 評価結果提供ステップ
Ｓ６ 補正評価ステップ
2 Underwater vehicle 10 Acoustic positioning device 30 Computer 31 Positioning data acquisition means 32 Depth data acquisition means 33 Accuracy evaluation means 34 Determination means 35 Correction evaluation means 36 Evaluation result providing means 40 Depth meter 50 INS device 60 Correction value S1 Positioning data acquisition step S2 Depth data acquisition step S3 Accuracy evaluation step S4 Determination step S5 Evaluation result providing step S6 Correction evaluation step
Claims (9)
前記評価結果提供ステップの前に、前記精度評価ステップで評価した前記測位の前記精度の前記評価結果と、予め定めた許容誤差とに基づいて前記３次元位置の測位データの採用の可否を判断する判断ステップを有し、
前記測位データが採用できないと判断された場合に、前記深度データを用いて前記３次元位置の補正結果を得たのち、前記補正結果を前記水中航走体の航跡情報を含む内部情報と比較して前記補正結果の精度を再評価する補正評価ステップをさらに有し、前記補正結果と共に再評価結果を提供することを特徴とする水中航走体の音響測位処理方法。 An acoustic positioning processing method for processing results of positioning the position of an underwater vehicle using an acoustic positioning device, comprising: a positioning data acquisition step for acquiring data obtained by positioning the three-dimensional position of the underwater vehicle using sound waves underwater; a depth data acquisition step for acquiring depth data of the underwater vehicle; an accuracy evaluation step for comparing a depth based on the three-dimensional position at the same time with the depth data and evaluating the accuracy of the positioning of the three-dimensional position; and an evaluation result provision step for providing an evaluation result of the accuracy of the positioning ,
a determination step, prior to the evaluation result providing step, of determining whether or not to adopt the positioning data of the three-dimensional position based on the evaluation result of the positioning accuracy evaluated in the accuracy evaluation step and a predetermined allowable error,
An acoustic positioning processing method for an underwater vehicle, characterized in that, when it is determined that the positioning data cannot be used, a correction result of the three-dimensional position is obtained using the depth data, and then the correction result is compared with internal information including track information of the underwater vehicle to reevaluate the accuracy of the correction result, and the reevaluation result is provided together with the correction result .
コンピュータに、請求項１に記載の水中航走体の音響測位処理方法における、前記測位データ取得ステップ、前記深度データ取得ステップ、前記精度評価ステップ、前記評価結果提供ステップ、及び前記補正評価ステップを実行させることを特徴とする水中航走体の音響測位処理プログラム。 An acoustic positioning processing program for processing results of positioning the position of an underwater vehicle,
An acoustic positioning processing program for an underwater vehicle, characterized in that it causes a computer to execute the positioning data acquisition step, the depth data acquisition step, the accuracy evaluation step , the evaluation result provision step , and the correction evaluation step in the acoustic positioning processing method for an underwater vehicle described in claim 1.
少なくとも深度計を備えた前記水中航走体の３次元位置を音響測位装置で測位したデータを取得する測位データ取得手段と、
前記水中航走体の前記深度計の深度データを取得する深度データ取得手段と、
同時刻における前記３次元位置に基づいた深度と前記深度データとを比較し前記３次元位置の測位の精度を評価する精度評価手段と、
前記測位の前記精度の評価結果を提供する評価結果提供手段と、
前記精度評価手段で評価した前記測位の前記精度の前記評価結果と、予め定めた許容誤差とに基づいて前記３次元位置の測位データの採用の可否を判断する判断手段と、
前記測位データが採用できないと判断された場合に、前記深度データを用いて前記３次元位置の補正結果を得たのち、前記補正結果を前記水中航走体の航跡情報を含む内部情報と比較して前記補正結果を再評価する補正評価手段と、
を備え、
前記補正結果と共に再評価結果を提供することを特徴とする水中航走体の音響測位処理システム。 An acoustic positioning processing system that processes results of positioning the position of an underwater vehicle,
a positioning data acquisition means for acquiring data on the three-dimensional position of the underwater vehicle equipped with at least a depth meter, the data being measured by an acoustic positioning device;
a depth data acquisition means for acquiring depth data from the depth meter of the underwater vehicle;
an accuracy evaluation means for comparing a depth based on the three-dimensional position at the same time with the depth data and evaluating the accuracy of positioning of the three-dimensional position;
evaluation result providing means for providing an evaluation result of the positioning accuracy ;
a determination means for determining whether or not to adopt the three-dimensional position measurement data based on the evaluation result of the accuracy of the positioning evaluated by the accuracy evaluation means and a predetermined allowable error;
a correction evaluation means for, when it is determined that the positioning data cannot be used, obtaining a correction result of the three-dimensional position using the depth data, and then re-evaluating the correction result by comparing the correction result with internal information including track information of the underwater vehicle;
Equipped with
An acoustic positioning processing system for an underwater vehicle, characterized in that it provides a reevaluation result together with the correction result .
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