JPH0378316B2 - - Google Patents
Info
- Publication number
- JPH0378316B2 JPH0378316B2 JP7963588A JP7963588A JPH0378316B2 JP H0378316 B2 JPH0378316 B2 JP H0378316B2 JP 7963588 A JP7963588 A JP 7963588A JP 7963588 A JP7963588 A JP 7963588A JP H0378316 B2 JPH0378316 B2 JP H0378316B2
- Authority
- JP
- Japan
- Prior art keywords
- buoy
- underwater vehicle
- positioning
- cable
- control device
- 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
Links
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 17
- 238000012790 confirmation Methods 0.000 claims description 16
- 230000005540 biological transmission Effects 0.000 claims description 14
- 238000012545 processing Methods 0.000 claims description 11
- 238000000034 method Methods 0.000 claims description 10
- 239000012530 fluid Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000012937 correction Methods 0.000 description 3
- 239000002360 explosive Substances 0.000 description 3
- 238000004880 explosion Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/27—Arrangements for networking
- H04B10/272—Star-type networks or tree-type networks
Landscapes
- Engineering & Computer Science (AREA)
- Computing Systems (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Description
【発明の詳細な説明】
産業上の利用分野
この発明は、所定の目標地点に向かつて水中航
走体を潜水航走させている途中で、目標地点に正
確に水中航走体を誘導すべく軌道修正するため
に、衛星航法により位置を確認する水中航走体に
おける位置確認装置に関する。[Detailed Description of the Invention] Industrial Application Field This invention aims to accurately guide an underwater vehicle to a target point while the underwater vehicle is traveling underwater toward a predetermined target point. The present invention relates to a position confirmation device for an underwater vehicle that uses satellite navigation to confirm the position in order to correct its orbit.
従来技術及び発明の課題
所定の目標地点に向かつて水中航走体を潜水航
走させている途中で、目標地点に正確に水中航走
体を誘導すべく軌道修正するために、衛星航法に
より位置を確認するには、従来は衛星からの電波
を受信するために水中航走体を水面近くに浮上さ
せて受信アンテナを水上に出していた。Prior Art and Problems to be Solved by the Invention While an underwater vehicle is submerged toward a predetermined target point, the position is determined by satellite navigation in order to correct the trajectory to accurately guide the underwater vehicle to the target point. Conventionally, to receive radio waves from satellites, an underwater vehicle was floated close to the surface of the water and the receiving antenna was placed above the water.
しかしながら、この方法では水中航走体が水面
近くに浮上したときに水面が荒れていると、水中
航走体が波浪による外力を受け再潜水することが
困難になるという問題がある。 However, this method has a problem in that if the water surface is rough when the underwater vehicle floats near the water surface, the underwater vehicle receives external force from waves and becomes difficult to re-dive.
そこで、受信アンテナを内蔵したブイをえい航
し、アンテナの受信信号を伝送ケーブルによつて
水中航走体に送り、水中航走体内に設けられた信
号処理装置によつて信号処理して位置を求めるよ
うにしたものがある。 Therefore, a buoy with a built-in receiving antenna is towed, the signal received by the antenna is sent to the underwater vehicle via a transmission cable, and the signal is processed by a signal processing device installed inside the underwater vehicle to determine its position. There is something like this.
この方法では、衛星航法で用いられる電波が高
周波（1575MHz）であるため、アンテナの受信信
号を水中航走体に送るためには、径の大きな伝送
ケーブルを用いる必要があるとともに伝送ケーブ
ルを長くできない。伝送ケーブルの径を大きくす
る必要があることから、航走中の流体抵抗が大き
くなり、姿勢制御が不能となる。安定航走のため
に高速にしなければならないというように水中航
走体の運動性能に悪影響を及ぼすという問題があ
る。また、伝送ケーブルを長くできないので、水
中航走体を水面近くまで浮上させなければならず
前述の方法と同様な問題がある。 In this method, the radio waves used in satellite navigation are high frequency (1575MHz), so in order to send the received signal from the antenna to the underwater vehicle, it is necessary to use a transmission cable with a large diameter, and the transmission cable cannot be made long. . Since it is necessary to increase the diameter of the transmission cable, fluid resistance during navigation increases, making attitude control impossible. There is a problem in that it has a negative effect on the maneuverability of underwater vehicles, such as having to increase the speed for stable navigation. Furthermore, since the transmission cable cannot be made long, the underwater vehicle must be floated close to the surface of the water, resulting in the same problem as the above-mentioned method.
この発明は、上記問題をすべて解消した水中航
走体における位置確認装置を提供することを目的
とする。 An object of the present invention is to provide a position confirmation device for an underwater vehicle that solves all of the above problems.
課題を解決するための手段
この発明による水中航走体における位置確認装
置は、水中航走体内に収納されたブイ、水中航走
体に設けられた管制装置からのブイ放出指令に基
づいて、測位用ブイを水中航走体内から放出する
ブイ放出装置、ブイに設けられ、受信アンテナ及
び受信アンテナによつて受信された電波を処理し
測位データを作成する信号処理装置からなり、ブ
イが放出されて水面上に移動したときに測位を行
う衛星航法受信機、衛星航法受信機と管制装置と
を電気的に接続し、ブイ放出に伴つて水中航走体
内から引き出され、測位終了までブイを自由に移
動させ得る長さの測位データ伝送ケーブル、並び
にブイが放出されかつ信号処理装置から管制装置
に測位データが伝送された後に、管制装置からの
駆動指令に基づいて、水中航走体内で測位データ
伝送ケーブルを切断するケーブル切断装置を備え
ていることを特徴とする。Means for Solving the Problems A position confirmation device for an underwater vehicle according to the present invention performs positioning based on a buoy stored in the underwater vehicle and a buoy release command from a control device installed in the underwater vehicle. It consists of a buoy release device that releases a buoy from within an underwater vehicle, a receiving antenna and a signal processing device installed on the buoy that processes radio waves received by the receiving antenna and creates positioning data. A satellite navigation receiver that performs positioning when moving above the water surface, electrically connects the satellite navigation receiver and the control device, and when the buoy is released, it is pulled out from the underwater vehicle and the buoy can be freely used until the positioning is completed. After the positioning data transmission cable is long enough to be moved and the buoy is released and the positioning data is transmitted from the signal processing device to the control device, the positioning data is transmitted within the underwater vehicle based on the drive command from the control device. It is characterized by being equipped with a cable cutting device for cutting the cable.
実施例
以下、図面を参照してこの発明の実施例につい
て説明する。Embodiments Hereinafter, embodiments of the present invention will be described with reference to the drawings.
第１図は、水中航走体１の概略構成を示してい
る。水中航走体１は、魚形であり、後部に舵２を
有する安定翼３及び推進機４が設けられている。
水中航走体１内の後部には、推進機４を回転駆動
する電動モータ５、舵２を駆動制御する操舵装置
６及び各電気機器へ電力を供給するための電池７
が搭載されている。 FIG. 1 shows a schematic configuration of an underwater vehicle 1. As shown in FIG. The underwater vehicle 1 is fish-shaped, and is provided with a stabilizing wing 3 having a rudder 2 at the rear and a propulsion device 4.
At the rear of the underwater vehicle 1, there are an electric motor 5 that rotationally drives the propulsion device 4, a steering device 6 that drives and controls the rudder 2, and a battery 7 that supplies power to each electrical device.
is installed.
水中航走体１内の前部には、方位計８、深度計
９、速度計１０、第１及び第２の二つの位置確認
装置１１，１２並びに上記各機器を制御する管制
装置１３が搭載されている。第２図は、位置確認
装置１１，１２の詳細を示している。各位置確認
装置１１，１２は、水中航走体１の外面に設けら
れた凹所１４，１５にそれぞれ収容されており、
膨脹式ブイ２０を有するブイ装置２１、ブイ装置
２１を放出するためのブイ放出装置２２、ブイ装
置２１に設けられた衛星航法受信機２３、受信機
２３と管制装置１３とを電気的に接続する測位デ
ータ伝送ケーブル２４及び測位データ伝送ケーブ
ル２４を切断するケーブル切断装置２５を備えて
いる。 A direction meter 8, a depth meter 9, a speed meter 10, two first and second position confirmation devices 11 and 12, and a control device 13 that controls each of the above devices are installed in the front part of the underwater vehicle 1. has been done. FIG. 2 shows details of the position confirmation devices 11, 12. Each position confirmation device 11, 12 is accommodated in a recess 14, 15 provided on the outer surface of the underwater vehicle 1, respectively.
A buoy device 21 having an inflatable buoy 20, a buoy release device 22 for releasing the buoy device 21, a satellite navigation receiver 23 provided on the buoy device 21, and electrically connecting the receiver 23 and the control device 13. A positioning data transmission cable 24 and a cable cutting device 25 for cutting the positioning data transmission cable 24 are provided.
ブイ装置２１は、ブイ２０、衛星航法受信機２
３、その電源としての電子、ブイ膨脹用ガスボン
ベ及びそれらが内蔵されたブイ収納ケース２６か
らなる。ケース２６には、蓋２７が着脱自在に取
り付けられている。 The buoy device 21 includes a buoy 20, a satellite navigation receiver 2
3. It consists of electronics as its power source, a gas cylinder for buoy expansion, and a buoy storage case 26 in which they are built. A lid 27 is detachably attached to the case 26.
衛星航法受信機２３は、受信アンテナ及び受信
アンテナによつて受信された電波を処理し測位デ
ータを作成する信号処理装置からなる。 The satellite navigation receiver 23 includes a receiving antenna and a signal processing device that processes radio waves received by the receiving antenna and creates positioning data.
ブイ放出装置２２は、凹所１４，１５の底面上
に配され、一端が凹所１４，１５底面に枢着さ
れ、他端がばね２８によつて常に上方に付勢され
たブイ受台２９と、ブイ受台２９に載せられたブ
イ装置２１を、ばね２８の付勢力に抗して凹所１
４，１５内に保持するように水中航走体１に取り
付けられた金属性の凹所閉鎖板３０とからなる。
凹所閉鎖板３０は、その前端が水中航走体１に枢
着され、その後端が水中航走体１に爆発ボルト３
１によつて固定されている。爆発ボルト３１を固
定するねじ固定部３２は、凹所１４，１５後面に
内方突出状に形成されており、その上面には、閉
鎖板簡易固定用のマグネツト３３が固定されてい
る。 The buoy release device 22 is disposed on the bottom surfaces of the recesses 14 and 15, one end of which is pivoted to the bottom surface of the recesses 14 and 15, and the other end of which is a buoy holder 29 that is always urged upward by a spring 28. Then, the buoy device 21 placed on the buoy holder 29 is pushed into the recess 1 against the biasing force of the spring 28.
4, 15, and a metal recess closing plate 30 attached to the underwater vehicle 1 so as to be held within the underwater vehicle 1.
The recess closing plate 30 has its front end pivotally attached to the underwater vehicle 1 and its rear end connected to the underwater vehicle 1 with an explosive bolt 3.
It is fixed by 1. A screw fixing part 32 for fixing the explosion bolt 31 is formed inwardly protruding from the rear surface of the recesses 14 and 15, and a magnet 33 for easily fixing the closing plate is fixed to the upper surface of the screw fixing part 32.
測位データ伝送ケーブル２４は、ブイ装置２１
が放出されて水面上に浮上し、衛星航法受信機２
３によつて測位が終了するまでブイ装置２１を自
由に移動させ得る長さであり、その長さ中間部
は、巻回状態でケーブル収納部３４に収納されて
いる。ケーブル２４の一端部は、ケーブル切断装
置２５内を通つて、ブイ収納ケース２６内にの
び、衛星航法受信機２３に接続されている。ケー
ブル２４の他端部は、管制装置１３に接続されて
いる。 The positioning data transmission cable 24 connects to the buoy device 21
is released and rises to the surface of the water, and the satellite navigation receiver 2
3, the length is such that the buoy device 21 can be freely moved until the positioning is completed, and the middle part of the length is stored in the cable storage part 34 in a wound state. One end of the cable 24 passes through a cable cutting device 25, extends into a buoy storage case 26, and is connected to a satellite navigation receiver 23. The other end of the cable 24 is connected to the control device 13.
第３図を参照して、水中航走体１の発射地点Ａ
から目標地点Ｂまでのコースは、あらかじめ設定
されており、水中航走体１を目標地点Ｂに誘導す
るためのデータは、あらかじめ管制装置１３に記
憶されている。水中航走体１は、管制装置１３に
記憶されているデータ、方位計８、深度計９及び
速度計１０に基づいて、推測航法によつて上記コ
ースに沿つて航走される。そして、あらかじめ定
められたコース上の２点、すなわち、第１回測位
点S1及び第２回測位点S2で衛星航法によつて測
位が行われ、この測位結果に基づいて軌道修正処
理が行われる。この例では、発射地点Ａと目標地
点Ｂとの間の距離をＬとすると、第１回測位点
S1は、発射地点Ａから目標地点Ｂに向かつて1/2
Ｌ離れた位置に、第２回測位点S2は、目標地点
Ｂから発射地点Ａ側に1/8Ｌの距離の地点にそれ
ぞれ設定されている。 With reference to FIG. 3, launch point A of underwater vehicle 1
The course from to the target point B is set in advance, and data for guiding the underwater vehicle 1 to the target point B is stored in the control device 13 in advance. The underwater vehicle 1 is navigated along the above course by dead reckoning based on the data stored in the control device 13, the compass 8, the depth meter 9, and the speed meter 10. Then, positioning is performed by satellite navigation at two points on a predetermined course, that is, the first positioning point S1 and the second positioning point S2, and orbit correction processing is performed based on the positioning results. . In this example, if the distance between launch point A and target point B is L, the first positioning point
S1 is 1/2 in direction from launch point A to target point B.
The second positioning points S2 are set at positions 1/8L away from the target point B toward the launch point A.
第４図及び第５図を参照して、測位時の第１位
置確認装置１１の動作について説明する。水中航
走体１が、発射地点Ａから発射され第１回測位点
S1に到達すると、管制装置１３から第１位置確
認装置１１の爆発ボルト３１の起爆部にブイ放出
指令が送られ、爆発ボルト３１が爆発により切断
され、ばね２８の付勢力によつて凹所閉鎖板３０
が開くとともにブイ装置２１が水中航走体１外に
放出される。ブイ装置２１が放出されると同時
に、ケース２６の蓋２７が外れるとともにブイ２
０がブイ膨脹用ガスボンベによつて膨脹せしめら
れ、ブイ装置２１は浮上していく。ブイ装置２１
の浮上に伴つてケーブル２４は、凹所１４内から
引き出されていく（第４図）。 The operation of the first position confirmation device 11 during positioning will be described with reference to FIGS. 4 and 5. Underwater vehicle 1 is launched from launch point A and reaches the first positioning point.
When S1 is reached, a buoy release command is sent from the control device 13 to the detonator of the explosive bolt 31 of the first position confirmation device 11, the explosive bolt 31 is cut by the explosion, and the recess is closed by the biasing force of the spring 28. Board 30
When the buoy device 21 opens, the buoy device 21 is released outside the underwater vehicle 1. At the same time as the buoy device 21 is released, the lid 27 of the case 26 is removed and the buoy 2
0 is inflated by the buoy expansion gas cylinder, and the buoy device 21 floats up. Buoy device 21
As the cable 24 floats up, the cable 24 is pulled out from within the recess 14 (FIG. 4).
ブイ装置２１が水面に浮上すると、衛星航法受
信機２３による測位が開始される。この測位中に
おいても水中航走体１は一定の深度を一定の速度
で航走しており、ケーブル２４は凹所１４内から
引き出され続けている。 When the buoy device 21 rises to the surface of the water, positioning by the satellite navigation receiver 23 is started. Even during this positioning, the underwater vehicle 1 is traveling at a constant speed at a constant depth, and the cable 24 continues to be pulled out from within the recess 14.
測位が終了すると、衛星航法受信機２３から管
制装置１３に、ケーブル２４を介して測位データ
（緯度データ、経度データ等）が送られる。測位
データが管制装置１３に送られると、管制装置１
３はケーブル切断装置２５に駆動指令を送るとと
もに測位データに基づいて水中航走体１の軌道修
正処理を行う。ケーブル切断装置２５は、駆動指
令によつて駆動され、これにより、ケーブル２４
が切断される。ケーブル２４が切断されると、凹
所閉鎖板３０は、流体力によつて自動的に閉ま
り、マグネツト３３によつて簡易固定される（第
５図）。 When the positioning is completed, positioning data (latitude data, longitude data, etc.) is sent from the satellite navigation receiver 23 to the control device 13 via the cable 24. When the positioning data is sent to the control device 13, the control device 1
3 sends a drive command to the cable cutting device 25 and performs a trajectory correction process for the underwater vehicle 1 based on the positioning data. The cable cutting device 25 is driven by a drive command, thereby cutting the cable 24
is disconnected. When the cable 24 is cut, the recess closing plate 30 is automatically closed by fluid force and simply fixed by the magnet 33 (FIG. 5).
水中航走体１は、軌道修正されながら推測航法
によつて第２回測位地点S2に向かつて航走する。
そして、第２回測位地点S2に到達すると、上記
と同様に第２位置確認装置１２が作動されて測位
が行われるとともに第２回目の軌道修正が行わ
れ、水中航走体１は、推測航法によつて目標地点
Ｂに向かつて航走する。 The underwater vehicle 1 navigates toward the second positioning point S2 by dead reckoning while its trajectory is corrected.
When the second positioning point S2 is reached, the second position confirmation device 12 is activated and positioning is performed in the same manner as described above, and a second trajectory correction is performed, and the underwater vehicle 1 performs dead reckoning navigation. The aircraft then sails towards the target point B.
上記実施例では、水中航走体１に２つの位置確
認装置１１，１２が設けられているが、位置確認
装置の設置数は、測位回数に応じて任意に定める
ことができる。また、ブイ放出装置２２として
は、管制装置からのブイ放出指令に基づいてブイ
装置２１を水中航走体内から放出できるものであ
れば、上記構成のものに限られない。 In the above embodiment, the underwater vehicle 1 is provided with two position confirmation devices 11 and 12, but the number of position confirmation devices installed can be arbitrarily determined depending on the number of positionings. Further, the buoy release device 22 is not limited to the above configuration as long as it can release the buoy device 21 from the underwater vehicle based on a buoy release command from the control device.
上記水中航走体１では、ブイ装置２１に設けら
れた衛星航法受信機２３は、受信アテナ及び受信
アンテナによつて受信された電波を処理し測位デ
ータを作成する信号処理装置からなるので、ケー
ブル２４を細くかつ長くできる。そして、ブイ装
置２１を放出して水面上に浮上させ、ブイ装置２
１に設けられた衛星航法受信機２３によつて測位
を行つているので、水中航走体１を水面近くまで
浮上させることなく、衛星航法によつて位置確認
が行える。 In the underwater vehicle 1, the satellite navigation receiver 23 provided on the buoy device 21 is composed of a receiving antenna and a signal processing device that processes radio waves received by the receiving antenna and creates positioning data. 24 can be made thinner and longer. Then, the buoy device 21 is released and floated above the water surface, and the buoy device 2
Since the positioning is performed by the satellite navigation receiver 23 provided in the underwater vehicle 1, the position can be confirmed by satellite navigation without having to float the underwater vehicle 1 close to the water surface.
また、ケーブル２４は、ブイ装置２１が放出さ
れて水面上に浮上し、衛星航法受信機２３によつ
て測位が終了するまでブイ装置２１を自由に移動
させ得る長さであるため、ブイ装置２１及びケー
ブル２４による流体抵抗が水中航走体１にほとん
ど影響しないので、安定した航走状態で測位を行
える。さらに、測位後においてはケーブル２４が
切断されてブイ装置２１が切り離されるので、ブ
イ装置２１及びケーブル２４による流体抵抗の影
響が全くなくなり、安定した航走ができる。 In addition, the cable 24 has a length that allows the buoy device 21 to be freely moved until the buoy device 21 is released and floats above the water surface and the positioning is completed by the satellite navigation receiver 23. Since the fluid resistance caused by the cable 24 has almost no effect on the underwater vehicle 1, positioning can be performed in a stable traveling state. Furthermore, since the cable 24 is cut and the buoy device 21 is separated after positioning, the influence of fluid resistance due to the buoy device 21 and the cable 24 is completely eliminated, allowing stable navigation.
発明の効果
この発明による水中航走体における位置確認装
置は、水中航走体に収納されたブイ、水中航走体
に設けられた管制装置からのブイ放出指令に基づ
いて、測位用ブイを水中航走体内から放出するブ
イ放出装置、ブイに設けられ、受信アンテナ及び
受信アンテナによつて受信された電波を処理し測
位データを作成する信号処理装置からなり、ブイ
が放出されて水面上に移動したときに測位を行う
衛星航法受信機、衛星航法受信機と管制装置とを
電気的に接続し、ブイ放出に伴つて水中航走体内
から引き出され、測位終了までブイを自由に移動
させ得る長さの測位データ伝送ケーブル、並びに
ブイが放出されかつ信号処理装置から管制装置に
測位データが伝送された後に、管制装置からの駆
動指令に基づいて、水中航走体内で測位データ伝
送ケーブルを切断するケーブル切断装置を備えて
いる。Effects of the Invention The position confirmation device for an underwater vehicle according to the present invention moves a positioning buoy into the water based on a buoy stored in the underwater vehicle and a buoy release command from a control device installed in the underwater vehicle. It consists of a buoy release device that releases from within the medium-sized vehicle, a receiving antenna, and a signal processing device that processes the radio waves received by the receiving antenna and creates positioning data.The buoy is released and moves above the water surface. A satellite navigation receiver that performs positioning when the buoy is positioned, and a long cable that electrically connects the satellite navigation receiver and the control device, and that is pulled out of the underwater vehicle when the buoy is released and allows the buoy to move freely until the positioning is completed. After the positioning data transmission cable and the buoy are released and the positioning data is transmitted from the signal processing device to the control device, the positioning data transmission cable is cut within the underwater vehicle based on the drive command from the control device. Equipped with cable disconnection device.
ブイに設けられた衛星航法受信機は、受信アン
テナ及び受信アンテナによつて受信された電波を
処理し測位データを作成する信号処理装置からな
るので、ケーブルを細くかつ長くできる。そし
て、ブイが放出されて水面上に移動したときにブ
イに設けられた衛星航法受信機によつて測位が行
われるので、水中航走体を水面近くまで浮上させ
ることなく、衛星航法によつて位置確認が行え
る。 The satellite navigation receiver installed on the buoy consists of a receiving antenna and a signal processing device that processes radio waves received by the receiving antenna and creates positioning data, so the cable can be made thinner and longer. Then, when the buoy is released and moves above the water surface, positioning is performed by the satellite navigation receiver installed on the buoy, so the underwater vehicle can be positioned by satellite navigation without having to surface close to the water surface. You can check the location.
また、ケーブルは、ブイ放出に伴つて水中航走
体内から引き出され、測位終了までブイを自由に
移動させ得る長さであるため、測位時において、
ブイ及びケーブルによる流体抵抗が水中航走体に
ほとんど影響しないので、安定いた航走状態で測
位を行える。 In addition, the cable is pulled out from the underwater vehicle when the buoy is released, and is long enough to allow the buoy to move freely until the end of positioning.
Since the fluid resistance caused by the buoy and cable has little effect on the underwater vehicle, positioning can be performed in a stable navigation state.
さらに、測位後においては、ケーブル切断装置
によつて、ケーブルが切断されてブイが切り離さ
れるので、ブイ及びケーブルによる流体抵抗の影
響が全くなくなり、安定した航走ができる。 Furthermore, after positioning, the cable is cut by the cable cutting device and the buoy is separated, so the influence of fluid resistance due to the buoy and cable is completely eliminated, allowing stable navigation.
図面は、この発明の実施例を示し、第１図は水
中航走体の概略構成を示す構成図、第２図は位置
確認装置の詳細を示す構成図、第３図は水中航走
体の航走コース及び測定位置地点を示す図、第４
図及び第５図は位置確認装置の動作を説明するた
めの動作説明図である。
１……水中航走体、１１，１２……位置確認装
置、１３……管制装置、２０……膨脹式ブイ、２
１……ブイ装置、２２……ブイ放出装置、２３…
…衛星航法受信機、２４……測位データ伝送ケー
ブル、２５……ケーブル切断装置。
The drawings show an embodiment of the present invention, and FIG. 1 is a block diagram showing a schematic configuration of an underwater vehicle, FIG. 2 is a block diagram showing details of a position confirmation device, and FIG. Diagram showing the navigation course and measurement position points, No. 4
5 and 5 are operation explanatory diagrams for explaining the operation of the position confirmation device. 1... Underwater vehicle, 11, 12... Position confirmation device, 13... Control device, 20... Inflatable buoy, 2
1... Buoy device, 22... Buoy release device, 23...
... Satellite navigation receiver, 24 ... Positioning data transmission cable, 25 ... Cable cutting device.
Claims (1)
出指令に基づいて、ブイを水中航走体内から放出
するブイ放出装置、 ブイに設けられ、受信アンテナ及び受信アンテ
ナによつて受信された電波を処理し測位データを
作成する信号処理装置からなり、ブイが放出され
て水面上に移動したときに測位を行う衛星航法受
信機、 衛星航法受信機と管制装置とを電気的に接続
し、ブイ放出に伴つて水中航走体内から引き出さ
れ、測位終了までブイを自由に移動させ得る長さ
の測位データ伝送ケーブル、並びに ブイが放出されかつ信号処理装置から管制装置
に測位データが伝送された後に、管制装置からの
駆動指令に基づいて、水中航走体内で測位データ
伝送ケーブルを切断するケーブル切断装置を備え
ている水中航走体における位置確認装置。[Scope of Claims] 1. A buoy stored in an underwater vehicle; a buoy release device that releases a buoy from the underwater vehicle based on a buoy release command from a control device installed in the underwater vehicle; A satellite navigation receiver, which is installed in the water and consists of a receiving antenna and a signal processing device that processes the radio waves received by the receiving antenna and creates positioning data, and performs positioning when the buoy is released and moves above the water surface; A positioning data transmission cable that electrically connects the satellite navigation receiver and the control device, is pulled out from the underwater vehicle when the buoy is released, and is long enough to allow the buoy to move freely until the end of positioning, as well as An underwater vehicle equipped with a cable cutting device that cuts the positioning data transmission cable within the underwater vehicle based on a drive command from the control device after the positioning data is transmitted from the signal processing device to the control device. location confirmation device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7963588A JPH01249590A (en) | 1988-03-30 | 1988-03-30 | Position confirming device in underwater sailing body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7963588A JPH01249590A (en) | 1988-03-30 | 1988-03-30 | Position confirming device in underwater sailing body |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH01249590A JPH01249590A (en) | 1989-10-04 |
| JPH0378316B2 true JPH0378316B2 (en) | 1991-12-13 |
Family
ID=13695549
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP7963588A Granted JPH01249590A (en) | 1988-03-30 | 1988-03-30 | Position confirming device in underwater sailing body |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH01249590A (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0396997U (en) * | 1990-01-24 | 1991-10-04 | ||
| JP6973735B2 (en) * | 2017-11-30 | 2021-12-01 | 国立大学法人東京海洋大学 | Retention and release device for released material and underwater vehicle equipped with it |
-
1988
- 1988-03-30 JP JP7963588A patent/JPH01249590A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPH01249590A (en) | 1989-10-04 |
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