JPH0479424B2 - - Google Patents
Info
- Publication number
- JPH0479424B2 JPH0479424B2 JP57220138A JP22013882A JPH0479424B2 JP H0479424 B2 JPH0479424 B2 JP H0479424B2 JP 57220138 A JP57220138 A JP 57220138A JP 22013882 A JP22013882 A JP 22013882A JP H0479424 B2 JPH0479424 B2 JP H0479424B2
- Authority
- JP
- Japan
- Prior art keywords
- signal
- platform
- ultrasonic
- processing device
- underwater
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Description
【発明の詳細な説明】
（技術分野）
本発明はプラツトホームに取付けた水中曳航体
特にプラツトホーム付近の雑音が大きい場合、そ
の水中曳航体の位置即ち方位並びに距離を測定す
る超音波位置計測方法に関するものである。[Detailed Description of the Invention] (Technical Field) The present invention relates to an ultrasonic position measuring method for measuring the position, that is, the direction and distance, of an underwater towed object attached to a platform, especially when the noise near the platform is large. It is.
（従来技術）
従来の超音波位置計測方法を第１図に示す。即
ち従来の方法は図に示すように先ずプラツトホー
ム１に設置され信号処理装置２から信号伝送ケー
ブル３を通して水中曳航体４に取付けた送波器５
にパルス信号を送信する。送波器５はこのパルス
信号を受信すると或る周波数の超音波バースト信
号を送信する。この超音波信号をプラツトホーム
１に取付けた３個以上の受波器６1，６2…６ｎ
（図は３個を示す）で受信し、この受信信号を信
号処理装置２で処理することにより送波器５とそ
れぞれの受波器６1，６2…６ｎ間の距離及びその
距離差を計測し、プラツトホーム１に対する水中
曳航体４の位置、即ち方位並びに距離を計測する
ようにしたものである。(Prior Art) A conventional ultrasonic position measurement method is shown in FIG. That is, in the conventional method, as shown in the figure, first a transmitter 5 is installed on a platform 1 and is connected to a signal processing device 2 through a signal transmission cable 3 and attached to an underwater towing body 4.
Send a pulse signal to. When the transmitter 5 receives this pulse signal, it transmits an ultrasonic burst signal of a certain frequency. This ultrasonic signal is transmitted to three or more receivers 6 1 , 6 2 ...6n installed on the platform 1.
(the figure shows three), and this received signal is processed by the signal processing device 2 to calculate the distance and distance difference between the transmitter 5 and each of the receivers 6 1 , 6 2 . . . 6n. The position of the underwater towing body 4 with respect to the platform 1, that is, the direction and distance are measured.
しかし、受波器６1，６2…６ｎはプラツトホー
ム１に取付けられているため、プラツトホーム１
の近辺における雑音、例えばエンジン或はその他
の機械等による雑音が大きく、一方、送波器５か
らの送信音は伝搬損失（100米で約40dB）によつ
て小さくなるためその雑音比が小さくなり、プラ
ツトホーム１の受波器６1，６2…６ｎでうまく受
信できないという欠点があつた。 However, since the receivers 6 1 , 6 2 . . . 6n are installed on platform 1,
The noise in the vicinity of the transmitter 5, for example, the noise caused by the engine or other machinery, is large, while the transmitted sound from the transmitter 5 is reduced by the propagation loss (approximately 40 dB at 100 m), so its noise ratio is small. , the disadvantage was that the receivers 6 1 , 6 2 , . . . , 6n of platform 1 could not receive the signals well.
（発明の目的）
本発明は、このような従来の欠点を除去するも
ので、従来の方法による送波器と受波器の配置を
入れ換え、プラツトホームに取付けた各送波器か
らそれぞれ異なつた周波数の信号を送信し、水中
曳航体に取付けた１個の受波器により受信するこ
とで、プラツトホームにおける雑音が大きくても
受波器で受信した時の信号対雑音比が高くなり、
水中曳航体の位置を精度よく求められるようにし
たものである。以下本発明の一実施例を図面によ
り詳細に説明する。(Object of the Invention) The present invention is intended to eliminate such drawbacks of the conventional method, by replacing the conventional arrangement of transmitters and receivers, and transmitting different frequencies from each transmitter installed on the platform. By transmitting a signal and receiving it with a single receiver attached to the underwater towing vehicle, the signal-to-noise ratio when received by the receiver is high even when the platform is noisy.
This allows the position of an underwater towing object to be determined with high accuracy. An embodiment of the present invention will be described in detail below with reference to the drawings.
（発明の構成）
第２図は本発明超音波位置計測方法の一実施例
を示す説明図で、第１図と同じ機能部品には同一
の参照符号を付した。図に示すようにプラツトホ
ーム１には３個以上の送波器５1，５2…５ｎを、
また水中曳航体４には１個の受波器６を設ける。
なおこの実施例では送波器を３個として説明す
る。(Structure of the Invention) FIG. 2 is an explanatory diagram showing an embodiment of the ultrasonic position measuring method of the present invention, and the same functional parts as in FIG. 1 are given the same reference numerals. As shown in the figure, the platform 1 has three or more transmitters 5 1 , 5 2 . . . 5n,
Moreover, one receiver 6 is provided in the underwater towing body 4.
Note that this embodiment will be explained assuming that there are three transmitters.
先ず、プラツトホーム１に設置された信号処理
装置２からプラツトホーム１に取付けた送波器５
１，５2，５3にパルス信号を送信する。次に、こ
の送波器５1，５2，５3はこのパルス信号を受信
すると、それぞれ異なつた周波数1，2，3の超
音波バースト信号を送信する。 First, the signal processing device 2 installed on the platform 1 is connected to the transmitter 5 installed on the platform 1.
Send pulse signals to 1 , 5 2 , and 5 3 . Next, when the transmitters 5 1 , 5 2 , and 5 3 receive this pulse signal, they transmit ultrasonic burst signals of different frequencies 1 , 2 , and 3 , respectively.
この超音波信号を水中曳航体４に取付けた受波
器６で受信し、この受信信号を信号伝送ケーブル
３を通してプラツトホーム１に設置した信号処理
装置２に伝送する。この信号処理装置２では例え
ば第３図に示すように受波器６からの受信信号を
広帯域フイルタ７を介してマツチドフイルタ８1
８2，８3により３つの異なつた周波数1，2，3
の信号に分離し、検出器９1，９2，９3でその中
心周波数1，2，3のピーク値を検出し測位演算
回路１０においてそれぞれの送波器５1，５2，５
３と受波器６との間の距離及びそれぞれの距離差
を計測してプラツトホーム１に対する水中曳航体
４の位置即ち距離及び方位を測定するようにした
ものである。 This ultrasonic signal is received by a receiver 6 attached to the underwater towing body 4, and the received signal is transmitted to the signal processing device 2 installed on the platform 1 through the signal transmission cable 3. In this signal processing device 2, for example, as shown in FIG .
Three different frequencies 1 , 2 , 3 by 8 2 and 8 3
The detectors 9 1 , 9 2 , 9 3 detect the peak values of the center frequencies 1 , 2 , 3 , and the positioning calculation circuit 10 transmits the signals to the respective transmitters 5 1 , 5 2 , 5 .
The position of the underwater towing body 4 with respect to the platform 1, that is, the distance and direction, is determined by measuring the distance between the underwater towing body 3 and the receiver 6, and the distance difference between the two.
このようにするとプラツトホーム１における雑
音が大きくても送信波形における信号レベルと雑
音レベルの比は高く、したがつて受波器６で受信
した時の信号雑音比も高く、水中曳航体４の位置
を精度よく求めることができる。 In this way, even if the noise on the platform 1 is large, the ratio of the signal level to the noise level in the transmitted waveform is high, and therefore the signal-to-noise ratio when received by the receiver 6 is also high, and the position of the underwater towing body 4 can be determined. It can be determined with high accuracy.
（発明の効果）
以上詳細に説明したように本発明によれば水中
作業時における水中の装置の位置測定に利用して
大きな効果がある。(Effects of the Invention) As described above in detail, the present invention has great effects when used for position measurement of underwater equipment during underwater work.
第１図は従来の超音波位置計測方法の概略説明
図、第２図は本発明超音波位置計測方法の一実施
例を示す概略説明図、第３図は本発明方法におけ
る信号処理装置の一部を示すブロツク図である。
１……プラツトホーム、２……信号処理装置、
３……信号伝送ケーブル、４……水中曳航体、５
１，５2，５3……送波器、６……受波器、７……
広帯域フイルタ、８1，８2，８3……マツチドフ
イルタ、９1，９2・９3……ピーク検出器、１０
……測位演算回路。
Fig. 1 is a schematic explanatory diagram of a conventional ultrasonic position measuring method, Fig. 2 is a schematic explanatory diagram showing an embodiment of the ultrasonic position measuring method of the present invention, and Fig. 3 is an illustration of a signal processing device in the method of the present invention. FIG. 1... Platform, 2... Signal processing device,
3...Signal transmission cable, 4...Underwater towing body, 5
1 , 5 2 , 5 3 ... Transmitter, 6 ... Receiver, 7 ...
Broadband filter, 8 1 , 8 2 , 8 3 ...Matched filter, 9 1 , 9 2 / 9 3 ...Peak detector, 10
...Positioning calculation circuit.
Claims (1)
号伝送ケーブルにより接続され曳航される水中曳
航体との関係位置を計測する超音波位置計測方法
において、 前記プラツトホーム上に信号処理装置を設ける
とともに該プラツトホームの下面の所定の位置に
少なくとも３個の送波器を設け、前記信号処理装
置から出力されるパルス信号により前記各送波器
を同時に駆動して、該各送波器から、それぞれ、
異なる周波数の超音波バースト信号を送信し、該
各超音波信号を前記水中曳航体に設けた１個の受
波器により受信し、該受波器の出力信号を前記信
号伝送ケーブルを介して、前記信号処理装置へ伝
送し、該装置において信号処理を行つて、前記水
中曳航体の前記プラツトホームとの関係位置を計
測することを特徴とする水中曳航体の超音波位置
計測方法。[Scope of Claims] 1. An ultrasonic position measuring method for measuring the relative position between a platform floating on the water surface and an underwater towed object connected by a signal transmission cable and being towed, comprising the steps of: installing a signal processing device on the platform; At least three transmitters are provided at predetermined positions on the lower surface of the platform, and each transmitter is simultaneously driven by a pulse signal output from the signal processing device, and from each transmitter, Each,
transmitting ultrasonic burst signals of different frequencies, each ultrasonic signal being received by one receiver provided on the underwater towing body, and transmitting the output signal of the receiver via the signal transmission cable, An ultrasonic position measuring method for an underwater towed object, characterized in that the ultrasonic position of the underwater towed object is measured by transmitting the signal to the signal processing device and processing the signal in the signal processing device to measure the position of the underwater towed object in relation to the platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP22013882A JPS59111075A (en) | 1982-12-17 | 1982-12-17 | Method for ultrasonic measurement of position of underwater towing body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP22013882A JPS59111075A (en) | 1982-12-17 | 1982-12-17 | Method for ultrasonic measurement of position of underwater towing body |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS59111075A JPS59111075A (en) | 1984-06-27 |
| JPH0479424B2 true JPH0479424B2 (en) | 1992-12-15 |
Family
ID=16746491
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP22013882A Granted JPS59111075A (en) | 1982-12-17 | 1982-12-17 | Method for ultrasonic measurement of position of underwater towing body |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59111075A (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02245685A (en) * | 1989-03-17 | 1990-10-01 | Chubu Electric Power Co Inc | Underwater-position recognizing apparatus |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6021811Y2 (en) * | 1980-09-19 | 1985-06-28 | 古野電気株式会社 | Ultrasonic detection device for purse seine |
| JPS5773671A (en) * | 1980-10-25 | 1982-05-08 | Toshiba Corp | Ultrasonic flaw detection device for piping |
-
1982
- 1982-12-17 JP JP22013882A patent/JPS59111075A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS59111075A (en) | 1984-06-27 |
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