JP2605218B2 - 3D underwater attitude measurement system for linear towed bodies - Google Patents
3D underwater attitude measurement system for linear towed bodiesInfo
- Publication number
- JP2605218B2 JP2605218B2 JP6125303A JP12530394A JP2605218B2 JP 2605218 B2 JP2605218 B2 JP 2605218B2 JP 6125303 A JP6125303 A JP 6125303A JP 12530394 A JP12530394 A JP 12530394A JP 2605218 B2 JP2605218 B2 JP 2605218B2
- Authority
- JP
- Japan
- Prior art keywords
- sound source
- linear
- receiver
- depth
- receivers
- 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
Landscapes
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Description
【０００１】[0001]
【産業上の利用分野】本発明は、水中曳航体の曳航姿勢
を音響的に計測する線状曳航体の３次元水中姿勢計測装
置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a three-dimensional underwater attitude measuring apparatus for a linear towing body for acoustically measuring the towing attitude of an underwater towing body.
【０００２】[0002]
【従来の技術】従来、水中曳航体の姿勢計測は、水中ビ
デオ撮影等の光学的方法で行われてきた。しかし、曳航
体が長大な場合、あるいは曳航体深度が深い場合には、
光学的な方法による姿勢計測は、光量等の制約により測
定範囲が狭いため不可能である。2. Description of the Related Art Conventionally, the attitude measurement of an underwater towed vehicle has been performed by an optical method such as underwater video shooting. However, if the towing body is long or the towing body is deep,
Attitude measurement by an optical method is not possible because the measurement range is narrow due to restrictions on the amount of light and the like.
【０００３】そこで、測定範囲が広い、音響的な方法に
よる姿勢計測が有望視されてきている。このような音響
的な方法による姿勢計測は、曳航体に複数の受波器を設
置し、音波を送波して、その直接波の受信に基づく姿勢
計測が試みられている。Therefore, attitude measurement by an acoustic method, which has a wide measurement range, is expected to be promising. Attitude measurement by such an acoustic method has been attempted in which a plurality of wave receivers are installed on a towing body, sound waves are transmitted, and attitude measurement based on reception of the direct waves is performed.
【０００４】[0004]
【発明が解決しようとする課題】しかしながら、このよ
うな直接波だけからの情報では、音源と各受波器の距離
が計測されるにとどまり、受波器の深度や受波器間の相
対位置関係を正確に知ることは不可能であった。本発明
は、以上述べた、直接波による音響的な計測方法の欠点
を除去するために、曳航体に沿って設置した複数の受波
器により音源からの直接波に加えて、水面からの反射波
を受信することによって、正確、かつ迅速に線状曳航体
の３次元水中姿勢計測装置を提供することを目的として
いる。However, such information from only the direct wave only measures the distance between the sound source and each receiver, but also the depth of the receiver and the relative position between the receivers. It was impossible to know the exact relationship. In order to eliminate the above-mentioned drawbacks of the acoustic measurement method using a direct wave, the present invention employs a plurality of receivers installed along the towing body, in addition to the direct wave from the sound source and the reflection from the water surface. An object of the present invention is to provide a three-dimensional underwater attitude measuring device for a linear towing body accurately and quickly by receiving a wave.
【０００５】[0005]
【課題を解決するための手段】本発明は、上記目的を達
成するために、受波器を複数設置した線状曳航体の３次
元水中姿勢計測装置において、水中に設けられる音源
と、この音源の深度を計測する深度計と、線状曳航体に
配設される複数の受波器と、前記音源からのパルス音の
直接波及び海面からの反射波を前記線状曳航体の各受波
器により受波することで前記音源と線状曳航体の各受波
器間及び線状曳航体の隣接する受波器間の水平距離及び
各受波器の深度を測定し、線状曳航体の水中姿勢を３次
元的に計測する距離・深度演算部とを設けるようにした
ものである。SUMMARY OF THE INVENTION In order to achieve the above object, the present invention provides a three-dimensional underwater attitude measuring device for a linear towing body having a plurality of receivers, and a sound source provided underwater. Depth meter for measuring the depth of a wave, a plurality of receivers disposed on the linear towed body, and a direct wave of the pulse sound from the sound source and a reflected wave from the sea surface received by each of the linear towed bodies The horizontal distance between the sound source and each receiver of the linear towing body and between adjacent receivers of the linear towing body and the depth of each receiver are measured by receiving waves by the receiver, and the linear towing body is measured. And a distance / depth calculator for three-dimensionally measuring the underwater posture of the vehicle.
【０００６】[0006]
【作用】本発明によれば、上記のように、線状曳航体の
水中姿勢計測装置において、音源からの直接波及び海面
からの反射波を曳航体に設置した複数の受波器が受波す
ることにより、音源と曳航体の各受波器間及び曳航体の
隣接する受波器間の水平距離並びに各受波器の深度を測
定し、曳航体の水中姿勢を３次元的に計測する。According to the present invention, as described above, in the underwater attitude measuring device for a linear towed body, a plurality of receivers installed on the towed body receive direct waves from a sound source and reflected waves from the sea surface. By measuring the horizontal distance between the sound source and each receiver of the towed vehicle and between adjacent receivers of the towed vehicle, and the depth of each receiver, the underwater attitude of the towed vehicle is measured three-dimensionally. .
【０００７】したがって、水中に曳航された大きな曳航
体の曳航姿勢を迅速、かつ正確に、しかも３次元的に計
測することができ、曳航体のダイナミックな動きを捉え
ることができる。Therefore, the towing attitude of a large towed body towed underwater can be measured quickly, accurately, and three-dimensionally, and the dynamic movement of the towed body can be captured.
【０００８】[0008]
【実施例】以下、本発明の実施例について図面を参照し
ながら詳細に説明する。図１は本発明の実施例を示す線
状曳航体の３次元水中姿勢計測システムの構成図、図２
は本発明の実施例を示す線状曳航体の水中姿勢計測状態
を示す図である。Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a configuration diagram of a three-dimensional underwater attitude measurement system for a linear towing body showing an embodiment of the present invention.
FIG. 3 is a diagram illustrating a state of measuring the attitude of the linear towing body in water according to an embodiment of the present invention.
【０００９】図２に示すように、１は曳航体を曳航する
曳航船であり、この曳航船１には線状曳航体２を有して
いる。この線状曳航体２には受波器３が等間隔に複数配
置されている。また、トリガ電波受信用アンテナ４を具
備している。一方、音源船２０には音源２２が吊り下げ
られており、この音源２２からはパルス音を送信する。
音源船２０はエンジンを停止し、雑音の放射を防ぐこと
が望ましい。また、音源船２０にはトリガ電波送信用ア
ンテナ２１が設けられており、音波を送波すると同時
に、音波送波を知らせるトリガ電波を送信する。As shown in FIG. 2, reference numeral 1 denotes a towing vessel for towing a towing body, and the towing vessel 1 has a linear towing body 2. A plurality of wave receivers 3 are arranged at equal intervals in the linear towing body 2. In addition, an antenna 4 for receiving a trigger radio wave is provided. On the other hand, a sound source 22 is suspended from the sound source ship 20, and the sound source 22 transmits a pulse sound.
It is desirable that the sound source vessel 20 stop the engine and prevent the emission of noise. The sound source vessel 20 is provided with a trigger radio wave transmitting antenna 21 for transmitting a sound wave and, at the same time, transmitting a trigger radio wave for notifying the sound wave transmission.
【００１０】以下、この線状曳航体の３次元水中姿勢計
測システムを具体的に説明する。図１に示すように、音
源船２０には、トリガ電波送信のためのアンテナ２１、
音源２２、深度計２３、発振器２４、増幅器２５を具備
しており、発振器２４から出力されるパルス信号は、増
幅器２５で増幅され、音源２２からパルス音が送信され
る。また、アンテナ２１からはトリガ電波の送信が行わ
れる。更に、音源２２の横に深度計２３を設けることに
より、音源２２の深度を計測する。ただし、深度の計測
はこの方法に限らず、音源２２を吊るすロープの長さを
計ったり、複数の音源を配置することにより行うことが
できる。Hereinafter, the three-dimensional underwater posture measurement system for the linear towing body will be described in detail. As shown in FIG. 1, the sound source ship 20 has an antenna 21 for transmitting a trigger radio wave,
It includes a sound source 22, a depth gauge 23, an oscillator 24, and an amplifier 25. A pulse signal output from the oscillator 24 is amplified by the amplifier 25, and a pulse sound is transmitted from the sound source 22. Further, a trigger radio wave is transmitted from the antenna 21. Further, the depth of the sound source 22 is measured by providing a depth gauge 23 beside the sound source 22. However, the depth measurement is not limited to this method, and can be performed by measuring the length of a rope that suspends the sound source 22 or by arranging a plurality of sound sources.
【００１１】一方、曳航船１は、線状曳航体２を有し、
この曳航体２には等間隔に複数配置された受波器３から
なる受波部５、該受波部５が接続される入力部６、該入
力部６に接続される距離・深度演算部１０、該距離・深
度演算部１０に接続される表示部７、マニュアル・デー
タ・入力装置（ＭＤＩ）８が接続されている。また、前
記入力部６に接続されるトリガ電波受信用アンテナ４を
有している。On the other hand, the towing vessel 1 has a linear towing body 2,
The towing body 2 includes a receiving unit 5 including a plurality of receivers 3 arranged at equal intervals, an input unit 6 to which the receiving unit 5 is connected, and a distance / depth calculating unit to be connected to the input unit 6. 10, a display unit 7 connected to the distance / depth calculating unit 10, and a manual data / input device (MDI) 8 are connected. Further, it has a trigger radio wave receiving antenna 4 connected to the input unit 6.
【００１２】また、距離・深度演算部１０は、中央処理
装置（ＣＰＵ）１１、プログラムが記憶されるＲＯＭ
と、データが記憶されるＲＡＭを有するメモリ１２、入
力部６に接続されるインターフェース１３、表示部７及
びマニュアル・データ・入力装置８に接続されるインタ
ーフェース１４等を有している。次に、本発明における
曳航体の水中姿勢計測原理について述べる。The distance / depth calculator 10 includes a central processing unit (CPU) 11 and a ROM in which programs are stored.
And a memory 12 having a RAM for storing data, an interface 13 connected to the input unit 6, an interface 14 connected to the display unit 7 and the manual data input device 8, and the like. Next, the principle of measuring the underwater attitude of the towed body in the present invention will be described.
【００１３】図３において、音源２２の位置をＡとし、
基準として選んだ受波器、例えば、先端の受波器３ａの
位置をＢとする。３１は音源２２から受波器３ａへ伝搬
される直接波、３２は音源２２から海面で反射され受波
器３ａへ伝搬される反射波である。また、２２′は音源
２２の鏡像であり、その位置をＣとする。音源２２の深
度は深度計２３で予め計測しておき、音源船２０より曳
航船１に無線通信により、通知して、予めマニュアル・
データ・入力装置８から距離・深度演算部１０のメモリ
１２に記憶させておく。この音源２２の深度をＺ0 とす
る。受波器３ａで受ける信号は直接波３１、続いて反射
波３２の順序であり、各信号の到達時刻からトリガ電波
の到達時刻を引けば、直接波３１の伝搬時間Ｔ1 及び反
射波３２の伝搬時間Ｔ2 を得ることができる。水中の音
速をｃとすれば、図３のＡＣ間の距離は音源深度の２倍
の２Ｚ0 、ＡＢ間の距離はｃＴ1 、またＢＣ間の距離は
ｃＴ2 となる。In FIG. 3, the position of the sound source 22 is denoted by A,
Let B be the position of the receiver selected as a reference, for example, the receiver 3a at the tip. 31 is a direct wave transmitted from the sound source 22 to the receiver 3a, and 32 is a reflected wave reflected from the sound source 22 on the sea surface and transmitted to the receiver 3a. 22 'is a mirror image of the sound source 22, and its position is C. The depth of the sound source 22 is measured in advance by the depth gauge 23, and the sound source ship 20 notifies the towing ship 1 by wireless communication, and the
The data / input device 8 is stored in the memory 12 of the distance / depth calculator 10. Let the depth of this sound source 22 be Z 0 . Signal direct wave 31 received by the wave receiver 3a, followed by a sequence of reflected waves 32, from the arrival time of each signal by pulling the arrival time of the trigger wave, the propagation time T 1 and the reflected wave 32 of a direct wave 31 it is possible to obtain the propagation time T 2. Assuming that the sound speed in the water is c, the distance between ACs in FIG. 3 is 2Z 0 which is twice the sound source depth, the distance between ABs is cT 1 , and the distance between BCs is cT 2 .
【００１４】すると、受波器３ａの深度Ｚ1 、及び音源
２２と受波器３ａの水平距離Ｌ1 は、直角三角形ＢＡＤ
と直角三角形ＢＣＤの関係から、それぞれ、 Ｚ1 ＝ｃ2 （Ｔ2 2 −Ｔ1 2 ）／４Ｚ0 Ｌ1 ＝〔ｃ2 Ｔ1 2 −（Ｚ0 −Ｚ1 ）2 〕1/2 となる。したがって、任意の受波器ｎについて、受波器
深度Ｚn 及び音源２２と受波器３の水平距離Ｌn は求ま
る。Then, the depth Z 1 of the receiver 3a and the horizontal distance L 1 between the sound source 22 and the receiver 3a are determined by the right triangle BAD.
And the relationship of the right triangle BCD, respectively, Z 1 = c 2 (T 2 2 -T 1 2) / 4Z 0 L 1 = [c 2 T 1 2 - (Z 0 -Z 1) 2 ] 1/2 Become. Therefore, for any receiver n, the receiver depth Z n and the horizontal distance L n between the sound source 22 and the receiver 3 are determined.
【００１５】次に、音源と曳航体に設置された各受波器
との水平距離及び各受波器の深度を図３の方式で測定し
た後の曳航姿勢の求め方について述べる。図４で、Ｚ1
〜Ｚn 及びＬ1 〜Ｌn は、それぞれ各受波器の深度及び
音源と各受波器との水平距離を示す。また、ここでは、
各受波器同士の間隔は一定値ｒとする。また、１番目の
受波器と２番目の受波器との水平距離をＬ1,2 とおけ
ば、 Ｌ1,2 ＝〔ｒ2 −（Ｚ1 −Ｚ2 ）2 〕1/2 で与えられる。したがって、任意の隣接する受波器ｎと
受波器ｎ＋１との水平距離Ｌn, n+1は求めることができ
る。座標系を１番目の受波器が原点に２番目の受波器が
（Ｌ1,2 ，０，Ｚ2 ）となるようにとる。Next, a method of obtaining the towing attitude after measuring the horizontal distance between the sound source and each of the receivers installed on the tow body and the depth of each of the receivers by the method shown in FIG. 3 will be described. In FIG. 4, Z 1
ＺZ n and L 1そ れ ぞ れ L n indicate the depth of each receiver and the horizontal distance between the sound source and each receiver, respectively. Also, here
The interval between the receivers is a constant value r. Also, it puts the horizontal distance between the first receivers and the second receivers and L 1,2, L 1,2 = - in [r 2 (Z 1 -Z 2) 2] 1/2 Given. Therefore, the horizontal distance L n, n + 1 between any adjacent receiver n and receiver n + 1 can be obtained. Second receivers coordinate system to the first receivers are origin (L 1,2, 0, Z 2 ) taken and so as.
【００１６】次に、音源の座標を（Ｘ0 ，Ｙ0 ，Ｚ0 ）
とおくと、Ｚ0 は既知であり、Ｘ0，Ｙ0 は、 Ｘ0 ＝（Ｌ1 2 −Ｌ2 2 ＋Ｌ1,2 2 ）／２Ｌ1,2 Ｙ0 ＝（Ｌ1 2 −Ｘ0 2 ）1/2 となる。次に３番目以降の受波器の位置（Ｘn ，Ｙn ，
Ｚn ）（ｎ≧３）の決定法を示す。Next, the coordinates of the sound source are represented by (X 0 , Y 0 , Z 0 )
Putting a, Z 0 is known, X 0, Y 0 is, X 0 = (L 1 2 -L 2 2 + L 1,2 2) / 2L 1,2 Y 0 = (L 1 2 -X 0 2 ) 1/2 . Next, the positions of the third and subsequent receivers (X n , Y n ,
Z n ) (n ≧ 3) will be described.
【００１７】図４で２番目の受波器と３番目の受波器の
水平距離をＬ2,3 とおくと、これはＬ1,2 と同様に与え
られる。また、３番目の受波器の深度は、既知である。
ここで、Ｌ2 及びＬ3 は既知であるので、未知の３番目
の受波器の位置（Ｘ3，Ｙ3 ）は、（Ｘ0 ，Ｙ0 ）、
（Ｘ2 ，Ｙ2 ）を２つの頂点とし、各辺の長さがＬ2 ，
Ｌ3 ，Ｌ2,3 であるような三角形のもう１つの頂点とし
て求まる。この際、この頂点は２つ求まるが、Ｘ3 が大
きい方の頂点をとる。これにより定まった３番目の受波
器の位置と音源の位置を用いて、同様に４番目の受波器
の位置が求まる。これを繰り返して、ｎ番目の受波器の
位置まで決めることができる。[0017] The horizontal distance in FIG. 4 the second wave receiver and third receivers putting and L 2,3, which is provided in the same manner as L 1, 2. Also, the depth of the third receiver is known.
Here, since L 2 and L 3 are known, the unknown third receiver position (X 3 , Y 3 ) is (X 0 , Y 0 ),
Let (X 2 , Y 2 ) be two vertices and the length of each side be L 2 ,
It is obtained as another vertex of a triangle such as L 3 , L 2,3 . At this time, although the vertex determined two, take the apex towards X 3 is large. Using the position of the third receiver and the position of the sound source thus determined, the position of the fourth receiver is similarly obtained. By repeating this, it is possible to determine the position of the n-th receiver.
【００１８】途中で、｜Ｌm+1 −Ｌm ｜＞ｒとなった場
合には、三角形が形成できない。これは、前述の通り、
各受波器の位置の候補が２つ存在しているためで、ｍ＋
１番目の受波器の位置が、三角形を形成できるまで、Ｘ
軸の位置が小さい方の受波器の位置に受波器を逆のぼっ
て変更する。これによりすべての受波器位置が決まるの
で、曳航体の３次元水中姿勢を求めることができる。If | L m + 1 −L m |> r on the way, a triangle cannot be formed. This is, as mentioned above,
Since there are two candidates for the position of each receiver, m +
Until the position of the first receiver can form a triangle, X
Change the receiver upside down to the receiver with the smaller axis position. As a result, since all the receiver positions are determined, the three-dimensional underwater attitude of the towed body can be obtained.
【００１９】なお、本発明は上記実施例に限定されるも
のではなく、本発明の趣旨に基づいて種々の変形が可能
であり、これらを本発明の範囲から排除するものではな
い。It should be noted that the present invention is not limited to the above embodiment, but various modifications are possible based on the spirit of the present invention, and these are not excluded from the scope of the present invention.
【００２０】[0020]
【発明の効果】以上、詳細に説明したように、本発明に
よれば、水中に曳航された大きな曳航体の曳航姿勢を瞬
間に、正確に、しかも３次元的に計測することができ、
曳航体のダイナミックな動きを捉えることが可能とな
る。As described above in detail, according to the present invention, the towing posture of a large towed body towed in water can be measured instantaneously, accurately, and three-dimensionally.
It becomes possible to capture the dynamic movement of the towing body.
【図１】本発明の実施例を示す線状曳航体の３次元水中
姿勢計測システムの構成図である。FIG. 1 is a configuration diagram of a three-dimensional underwater attitude measurement system for a linear towing body showing an embodiment of the present invention.
【図２】本発明の実施例を示す線状曳航体の水中姿勢計
測状態を示す図である。FIG. 2 is a diagram illustrating an underwater posture measurement state of the linear towed body according to the embodiment of the present invention.
【図３】本発明の実施例を示す線状曳航体の特定の受波
器の深度と音源との水平距離の計測の説明図である。FIG. 3 is an explanatory diagram of measurement of a horizontal distance between a specific receiver and a sound source of a linear towing body according to an embodiment of the present invention.
【図４】本発明の実施例を示す線状曳航体の３次元水中
姿勢計測の説明図である。FIG. 4 is an explanatory diagram of three-dimensional underwater posture measurement of a linear towing body showing an embodiment of the present invention.
１ 曳航船 ２ 線状曳航体 ３，３ａ 受波器 ４ トリガ電波受信用アンテナ ５ 受波部 ６ 入力部 ７ 表示部 ８ マニュアル・データ・入力装置（ＭＤＩ） １０ 距離・深度演算部 １１ 中央処理装置（ＣＰＵ） １２ メモリ １３，１４ インターフェース ２０ 音源船 ２１ トリガ電波送信用アンテナ ２２ 音源 ２２′ 音源の鏡像 ２３ 深度計 ２４ 発振器 ２５ 増幅器 ３１ 直接波 ３２ 反射波 DESCRIPTION OF SYMBOLS 1 Towing ship 2 Linear towing body 3, 3a Receiver 4 Trigger radio wave receiving antenna 5 Receiving part 6 Input part 7 Display part 8 Manual data input device (MDI) 10 Distance / depth calculating part 11 Central processing unit (CPU) 12 memory 13, 14 interface 20 sound source ship 21 trigger radio wave transmitting antenna 22 sound source 22 'mirror image of sound source 23 depth gauge 24 oscillator 25 amplifier 31 direct wave 32 reflected wave
───────────────────────────────────────────────────── フロントページの続き (56)参考文献 特開 昭57−80582（ＪＰ，Ａ) 特開 平１−118786（ＪＰ，Ａ) ────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP-A-57-80582 (JP, A) JP-A-1-118786 (JP, A)
Claims (1)
元水中姿勢計測装置において、 （ａ）水中に設けられる音源と、 （ｂ）該音源の深度を計測する深度計と、 （ｃ）線状曳航体に配設される複数の受波器と、 （ｄ）前記音源からのパルス音の直接波及び海面からの
反射波を前記線状曳航体の各受波器により受波すること
で前記音源と線状曳航体の各受波器間及び線状曳航体の
隣接する受波器間の水平距離及び各受波器の深度を測定
し、線状曳航体の水中姿勢を３次元的に計測する距離・
深度演算部とを具備することを特徴とする線状曳航体の
３次元水中姿勢計測装置。1. A three-dimensional underwater posture measuring device of the plurality installed linear tow a wave receiver, a depth gauge for measuring a sound source provided in (a) in water, the depth of (b) the sound source, a plurality of receivers disposed in (c) linear tow body, (d) receiving the respective receivers of the linear tow reflected waves from the direct wave and the sea surface of the pulse sound from the sound source By measuring the horizontal distance between the sound source and each receiver of the linear towing body and between adjacent receivers of the linear towing body and the depth of each receiver, the underwater attitude of the linear towing body is measured. Distance to measure 3D
A three-dimensional underwater attitude measuring device for a linear towing body, comprising: a depth calculating unit .
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6125303A JP2605218B2 (en) | 1994-06-07 | 1994-06-07 | 3D underwater attitude measurement system for linear towed bodies |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6125303A JP2605218B2 (en) | 1994-06-07 | 1994-06-07 | 3D underwater attitude measurement system for linear towed bodies |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH07333318A JPH07333318A (en) | 1995-12-22 |
| JP2605218B2 true JP2605218B2 (en) | 1997-04-30 |
Family
ID=14906756
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP6125303A Expired - Lifetime JP2605218B2 (en) | 1994-06-07 | 1994-06-07 | 3D underwater attitude measurement system for linear towed bodies |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2605218B2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2015090284A (en) * | 2013-11-05 | 2015-05-11 | Ｎｅｃエンジニアリング株式会社 | Calibration device, calibration method and calibration program |
-
1994
- 1994-06-07 JP JP6125303A patent/JP2605218B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH07333318A (en) | 1995-12-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US4532617A (en) | System for locating a towed marine object | |
| JP3561881B2 (en) | Underwater vehicle positioning system | |
| AU760693B2 (en) | Method for producing a 3D image | |
| US4845686A (en) | Method and device for determining the position of immersed objects with respect to the ship which tows them | |
| RU2484492C1 (en) | Hydroacoustic system for measuring coordinates of sound source in shallow sea | |
| JP2605218B2 (en) | 3D underwater attitude measurement system for linear towed bodies | |
| JPS61262674A (en) | Apparatus for measuring position in water | |
| JP2000147117A (en) | Plotter system | |
| JPH0385476A (en) | Sea bottom searching apparatus | |
| JPH08136650A (en) | Acoustic position measuring instrument | |
| JPH07110380A (en) | Underwater gps | |
| CN209589205U (en) | A kind of multi-beam water depth measuring system | |
| JP2916362B2 (en) | Apparatus and method for correcting sound velocity in position measurement | |
| JPH1020045A (en) | Probe device for submarine buried structure | |
| US7688677B2 (en) | System and method for determining properties of tubular cavity | |
| CN111337881B (en) | Underwater target detection method utilizing propeller noise | |
| RU2029314C1 (en) | Method of measuring directional characteristic of hydroacoustic aerial | |
| JPS622182A (en) | Underwater position measuring instrument | |
| JPH0648453Y2 (en) | Fish finder for fish length discrimination | |
| JPH1164515A (en) | Target measuring device | |
| JPS6239336Y2 (en) | ||
| JPH046487A (en) | Underwater position detector having underwater detection function | |
| JPH11183580A (en) | Underwater position measuring device | |
| JPH06118169A (en) | Acoustic position measuring device | |
| JPH0227287A (en) | Underground radar apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 19961210 |
|
| R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
| R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
| R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
| S533 | Written request for registration of change of name |
Free format text: JAPANESE INTERMEDIATE CODE: R313533 |
|
| R350 | Written notification of registration of transfer |
Free format text: JAPANESE INTERMEDIATE CODE: R350 |
|
| EXPY | Cancellation because of completion of term |