JPH05131978A - Position confirming device of submerged sailing object - Google Patents
Position confirming device of submerged sailing objectInfo
- Publication number
- JPH05131978A JPH05131978A JP3293357A JP29335791A JPH05131978A JP H05131978 A JPH05131978 A JP H05131978A JP 3293357 A JP3293357 A JP 3293357A JP 29335791 A JP29335791 A JP 29335791A JP H05131978 A JPH05131978 A JP H05131978A
- Authority
- JP
- Japan
- Prior art keywords
- buoy
- underwater vehicle
- satellite navigation
- underwater
- positioning
- 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.)
- Granted
Links
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 24
- 238000000034 method Methods 0.000 claims abstract description 10
- 238000007599 discharging Methods 0.000 claims abstract description 7
- 230000005540 biological transmission Effects 0.000 claims description 24
- 238000012790 confirmation Methods 0.000 claims description 14
- 238000005259 measurement Methods 0.000 abstract description 2
- 238000012545 processing Methods 0.000 description 9
- 230000033001 locomotion Effects 0.000 description 7
- 238000000926 separation method Methods 0.000 description 7
- 238000012937 correction Methods 0.000 description 3
- 230000002093 peripheral effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 239000003381 stabilizer Substances 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】この発明は、所定の目標地点に向
かっ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。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is designed to correct the trajectory of a submersible vehicle while guiding the underwater vehicle to a predetermined target point while the submersible vehicle is being dive-traveled to the target point. The present invention relates to a position confirmation device for an underwater vehicle that confirms the position by satellite navigation.
【０００２】[0002]
【従来の技術】所定の目標地点に向かって水中航走体を
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。2. Description of the Related Art While diving underwater vehicles toward a predetermined target point, satellite navigation is used to correct the position of the underwater vehicle in order to correct the orbit to accurately guide the underwater vehicle to the target point. In order to confirm, conventionally, in order to receive the radio waves from the satellite, the underwater vehicle was levitated near the surface of the water and the receiving antenna was placed above the water.
【０００３】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 that it is difficult for the underwater vehicle to re-dive due to external force due to waves if the water surface is rough when the underwater vehicle floats near the water surface.
【０００４】そこで、受信アンテナを内蔵したブイを曳
航し、アンテナの受信信号を伝送ケーブルによって水中
航走体に送り、水中航走体内に設けられた信号処理装置
によっ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 having a built-in receiving antenna is towed, a signal received by the antenna is sent to an underwater vehicle by a transmission cable, and a signal processing device provided in the underwater vehicle carries out signal processing to obtain a position. There is something I did.
【０００５】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, since the radio waves used in satellite navigation are high frequency (1575 MHz), it is necessary to use a transmission cable with a large diameter and to transmit the reception signal of the antenna to the underwater vehicle. Can't be long. Since it is necessary to increase the diameter of the transmission cable, the fluid resistance during sailing becomes large and the attitude control becomes impossible. There is a problem that the motion performance of the underwater vehicle is adversely affected, for example, the speed must be increased for stable navigation. Also, because the transmission cable cannot be lengthened,
The underwater vehicle has to be levitated close to the surface of the water, which has the same problem as the above-mentioned method.
【０００６】そこで、本出願人らは、受信アンテナおよ
び受信アンテナにより受信された電波を処理して測位デ
ータを作成する信号処理装置からなる衛星航法装置を内
蔵したブイを水中航走体に収納しておき、測位地点にお
いて、水中航走体の管制装置からのブイ放出指令に基づ
いてブイ放出装置によりブイを水中航走体内から水中に
放出し、ブイが水面上に浮上したときに衛星航法装置に
よって測位を行い、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を介してブイの衛星
航法装置から水中航走体の管制装置に測位データを伝送
し、測位データの伝送後に、管制装置からの駆動指令に
基づいてケーブル切断装置により水中航走体内で測位デ
ータ伝送ケーブルを切断するようになされた水中航走体
における位置確認装置を提案した（特開平１−２４９５
９０号公報参照）。[0006] Therefore, the applicants of the present invention house a buoy in which a satellite navigation device including a receiving antenna and a signal processing device for processing the radio waves received by the receiving antenna to create positioning data is housed in an underwater vehicle. In addition, at the positioning point, the buoy release device releases the buoy into the water from the underwater vehicle based on the buoy release command from the underwater vehicle control device, and the satellite navigation device when the buoy floats above the water surface. The positioning data is transmitted by the satellite navigation device of the buoy to the control device of the underwater vehicle via a positioning data transmission cable of a length that allows the buoy to move freely until the positioning is completed. Position confirmation in the underwater vehicle, which was designed to cut the positioning data transmission cable in the underwater vehicle by the cable cutting device based on the drive command from the control device Proposed location (JP-1-2495
No. 90).
【０００７】この装置によれば、伝送ケーブルで伝送さ
れるのは、高周波のアンテナの受信信号ではなく、これ
を処理した後の測位データであるから、伝送ケーブルを
細くかつ長くできる。したがって、水中航走体を水面近
くまで浮上させることなく、ブイだけを水面上に浮上さ
せて、衛星航法により位置確認が行える。また、測位前
にはブイは水中航走体内に収納されており、測位時にの
み水中航走体からブイが放出されて伝送ケーブルが繰出
され、測位後には伝送ケーブルが切断されてブイが切り
離されるので、測位前と測位後にはブイおよびケーブル
による影響がまったくなく、安定した航走ができる。さ
らに、測位時においても、伝送ケーブルが測位終了まで
ブイを自由に移動させ得る長さであるため、ブイおよび
ケーブルが水中航走体の運動に与える影響が小さく、安
定した航走状態で測位を行える。[0007] According to this device, since the received signal of the high frequency antenna is not transmitted by the transmission cable but the positioning data after processing this, the transmission cable can be made thin and long. Therefore, it is possible to confirm the position by satellite navigation by floating only the buoy on the water surface without floating the underwater vehicle to near the water surface. In addition, the buoy is stored in the underwater vehicle before positioning, the buoy is released from the underwater vehicle only during positioning, and the transmission cable is extended, and after positioning, the transmission cable is cut and the buoy is disconnected. Therefore, there is no influence of buoys and cables before and after positioning, and stable navigation is possible. Furthermore, even during positioning, since the transmission cable has a length that allows the buoy to move freely until positioning is completed, the buoy and cable have little effect on the motion of the underwater vehicle, and positioning can be performed in a stable cruising state. You can do it.
【０００８】[0008]
【発明が解決しようとする課題】ところが、このような
装置では、伝送ケーブルおよびケーブル切断装置が必要
なため、構造が複雑になり、作動信頼性が低下する。However, in such a device, since the transmission cable and the cable cutting device are required, the structure becomes complicated and the operation reliability is lowered.
【０００９】また、伝送ケーブルの繰り出し抵抗が水中
航走体の運動に影響を与え、伝送ケーブルが推進器など
に絡まるおそれがある。Further, the feeding resistance of the transmission cable may affect the motion of the underwater vehicle, and the transmission cable may be entangled with the propulsion device.
【００１０】この発明の目的は、上記の問題をすべて解
決し、ブイが水中航走体の運動にまったく影響を与える
ことがない水中航走体における位置確認装置を提供する
ことにある。An object of the present invention is to solve all of the above problems and to provide a position confirmation device for an underwater vehicle in which the buoy does not affect the motion of the underwater vehicle at all.
【００１１】[0011]
【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、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、受信アンテ
ナによって受信された電波を処理し測位データを作成す
る衛星航法受信機および衛星航法受信機で作成した測位
データを水中音波で水中航走体に送信する音波送信装置
からなり、ブイが放出されて水面上に浮上したときに測
位を行う衛星航法装置、ならびに、水中航走体に設けら
れ、ブイの音波送信装置からの水中音波による測位デー
タを受信し管制装置に伝送する音波受信装置を備えてい
るものである。A position confirming device for an underwater vehicle according to the present invention is based on a buoy stored in the underwater vehicle and a buoy release command from a control device provided in the underwater vehicle. , A buoy emitting device for emitting a buoy from the underwater vehicle, a receiving antenna, a satellite navigation receiver that processes radio waves received by the receiving antenna and creates positioning data, and a positioning created by the satellite navigation receiver It consists of a sound wave transmission device that transmits data to the underwater vehicle by underwater sound waves, a satellite navigation device that performs positioning when the buoy is emitted and floats above the water surface, and the sound wave of the buoy installed in the underwater vehicle. It is provided with a sound wave reception device that receives positioning data by underwater sound waves from the transmission device and transmits it to the control device.
【００１２】[0012]
【作用】ブイは水中音波で測位データを水中航走体に送
信し、これらの間に伝送ケーブルがないので、水中航走
体を水面近くまで浮上させずにブイだけを水面上に浮上
させて衛星航法により位置の確認が行え、また、伝送ケ
ーブルが推進器などに絡まったりブイが水中航走体の運
動に影響を与えるおそれがまったくない。[Operation] The buoy transmits positioning data to the underwater vehicle by underwater sound waves, and since there is no transmission cable between them, only the buoy should be raised above the water surface without raising the underwater vehicle close to the water surface. The position can be confirmed by satellite navigation, and there is no possibility that the transmission cable will be entangled with the propulsion device or the buoy will affect the motion of the underwater vehicle.
【００１３】[0013]
【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 of the present invention will be described below with reference to the drawings.
【００１４】図１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) および推進器(4) が設けられてい
る。水中航走体(1) 内の後部には、推進器(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) およ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 structure of the underwater vehicle (1). The underwater vehicle (1) is fish-shaped and has a rudder (2) at the rear.
A stabilizer wing (3) and a thruster (4) are provided. In the rear part of the underwater vehicle (1), an electric motor (5) that rotationally drives the propulsion device (4) and a steering device that controls the drive of the rudder (2).
(6) and batteries for supplying electric power to each electric device (7)
Is installed.
【００１５】水中航走体(1) 内には、方位計(8) 、深度
計(9) 、速度計(10)、第１および第２の２つの位置確認
装置(11)、(12)なら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。In the underwater vehicle (1), an azimuth meter (8), a depth meter (9), a speedometer (10), two first and second position confirmation devices (11), (12). And a control device for controlling each of the above devices
(13) is installed.
【００１６】図２〜図４は、位置確認装置(11)、(12)の
詳細を示している。2 to 4 show the details of the position confirmation devices (11) and (12).
【００１７】各位置確認装置(11)、(12)は、水中航走体
(1) に設けられた垂直円形穴(14)にそれぞれ収容されて
おり、ブイ(15)、ブイ(15)を放出するためのブイ放出装
置(16)、ブイ(15)に設けられた衛星航法装置(17)および
水中航走体(1) に設けられた音波受信装置(18)を備えて
いる。Each position confirmation device (11), (12) is an underwater vehicle.
A buoy (15), a buoy ejector (16) for ejecting the buoy (15), and a satellite installed in the buoy (15), which are housed in the vertical circular holes (14) provided in (1) respectively. The navigation device (17) and the sound wave receiving device (18) provided on the underwater vehicle (1) are provided.
【００１８】円形穴(14)は水中航走体(1) を上下に貫通
しており、その底部が閉鎖部材(19)で塞がれて、上部だ
けが開放されている。なお、閉鎖部材(19)の下面は、水
中航走体(1) の外面の一部をなすように、部分円筒面と
なっている。The circular hole (14) penetrates the underwater vehicle (1) up and down, and its bottom is closed by the closing member (19) and only the upper part is open. The lower surface of the closing member (19) is a partial cylindrical surface so as to form a part of the outer surface of the underwater vehicle (1).
【００１９】ブイ(15)は密閉された垂直な円筒よりな
り、底面の外周部を４等分する位置に脚部(20)が設けら
れている。The buoy (15) is made of a closed vertical cylinder and has leg portions (20) at positions where the outer peripheral portion of the bottom surface is divided into four equal parts.
【００２０】衛星航法装置(17)は、衛星航法の電波を受
信する受信アンテナ(21)、アンテナ(21)によって受信さ
れた電波を処理して位置を算出し測位データを作成する
衛星航法受信機（信号処理装置）(22)、衛星航法受信機
(22)によって作成された測位データを水中音波で水中航
走体(1) に送信する音波送信装置(23)およびこれらの電
源としての電池(24)より構成されている。The satellite navigation device (17) is a receiving antenna (21) for receiving satellite navigation radio waves, and a satellite navigation receiver for processing the radio waves received by the antenna (21) to calculate the position and create positioning data. (Signal processor) (22), Satellite navigation receiver
It is composed of a sound wave transmission device (23) that transmits the positioning data created by (22) to the underwater vehicle (1) by underwater sound waves, and a battery (24) as a power source for these.
【００２１】アンテナ(21)、衛星航法受信機(22)および
電池(24)は、ブイ(15)内に設けられている。The antenna (21), the satellite navigation receiver (22) and the battery (24) are provided in the buoy (15).
【００２２】音波送信装置(23)は、水中音波送信のため
の信号処理を行う音波発信機(25)および水中音波を発信
する送波器(26)よりなる。音波発信機(25)は、ブイ(15)
内に設けられている。送波器(26)は、ブイ(15)の外底面
に設けられている。The sound wave transmitting device (23) comprises a sound wave transmitter (25) for performing signal processing for underwater sound wave transmission and a wave transmitter (26) for transmitting underwater sound waves. Sound wave transmitter (25) is a buoy (15)
It is provided inside. The wave transmitter (26) is provided on the outer bottom surface of the buoy (15).
【００２３】ブイ放出装置(16)は、次のように構成され
ている。The buoy discharging device (16) is constructed as follows.
【００２４】円形穴(14)内の底部中央に、上部が閉鎖さ
れて底部が開放された垂直円筒状のばね受け(27)が穴(1
4)と同心になるように固定されている。ばね受け(27)の
底部には外向きフランジ(27a)が形成され、このフラン
ジ(27a) の部分が閉鎖部材(19)の上面と穴(14)の下部と
の間に挟み止められている。At the center of the bottom of the circular hole (14), there is a vertical cylindrical spring bearing (27) with the top closed and the bottom open.
It is fixed so as to be concentric with 4). An outward flange (27a) is formed on the bottom of the spring receiver (27), and the portion of the flange (27a) is clamped between the upper surface of the closing member (19) and the lower portion of the hole (14). ..
【００２５】円形穴(14)内の上端部に、円環状ストッパ
(28)が固定されている。このストッパ(18)の内径は、穴
(14)の内径より少し小さく、ブイ(15)の外径より少し大
きくなっている。穴(14)の内周面を円周方向に４等分す
る位置に、垂直なガイド棒(29)が固定されている。これ
らのガイド棒(29)は、ストッパ(28)のすぐ下からばね受
け(27)の上端より少し下方までのびている。４つのガイ
ド棒(29)に内接する円は穴(14)と同心であり、この内接
円の直径はストッパ(28)の内径と等しいかこれよりわず
かに大きい。An annular stopper is provided at the upper end of the circular hole (14).
(28) is fixed. The inside diameter of this stopper (18)
It is slightly smaller than the inner diameter of (14) and slightly larger than the outer diameter of the buoy (15). A vertical guide rod (29) is fixed at a position where the inner peripheral surface of the hole (14) is divided into four equal parts in the circumferential direction. These guide rods (29) extend from just below the stopper (28) to slightly below the upper end of the spring bearing (27). A circle inscribed in the four guide rods (29) is concentric with the hole (14), and the diameter of the inscribed circle is equal to or slightly larger than the inner diameter of the stopper (28).
【００２６】ばね受け(27)の上方の円形穴(14)の内部
に、上部が閉鎖されて底部が開放された垂直短円筒状の
蓋(30)が配置されている。蓋(30)の下端部には、外向き
フランジ(30a) が形成されている。蓋(30)の円筒部の外
径は、ブイ(15)の外径とほぼ等しく、ストッパ(28)の内
径より少し小さくなっており、蓋(30)の内径は、ばね受
け(27)の外径より大きくなっている。蓋(30)のフランジ
(30a) の外径は穴(14)の内径より少し小さく、フランジ
(30a) にはガイド棒(28)がはまる４つの切欠き(31)が形
成されている。そして、蓋(30)は、ガイド棒(29)に沿っ
て穴(14)内を上下に移動しうるようになっている。ま
た、ばね受け(27)の周囲のフランジ(27a) と蓋(30)の上
面との間に、蓋(30)を上向きに付勢する圧縮コイルばね
(32)が設けられている。Inside the circular hole (14) above the spring bearing (27), a vertical short cylindrical lid (30) having a closed top and an open bottom is arranged. An outward flange (30a) is formed at the lower end of the lid (30). The outer diameter of the cylindrical portion of the lid (30) is almost equal to the outer diameter of the buoy (15) and slightly smaller than the inner diameter of the stopper (28), and the inner diameter of the lid (30) is the same as that of the spring bearing (27). It is larger than the outer diameter. Flange on lid (30)
The outer diameter of (30a) is slightly smaller than the inner diameter of the hole (14) and the flange
Four notches (31) into which the guide rod (28) fits are formed in (30a). The lid (30) can be moved up and down in the hole (14) along the guide rod (29). In addition, a compression coil spring that biases the lid (30) upward between the flange (27a) around the spring receiver (27) and the upper surface of the lid (30).
(32) is provided.
【００２７】ブイ(15)は、分離前においては、ばね(32)
の弾性力に抗して蓋(30)を下方に押し、蓋(30)の上面を
ばね受け(27)の上面に近接させた状態で穴(14)内に収容
され、分離装置(33)によって穴(14)内に固定されてい
る。ブイ(15)の上面は、このときに水中航走体(1) の外
面の一部をなすように、部分円筒面となっている。The buoy (15), prior to disconnection, has a spring (32).
The lid (30) is pushed downward against the elastic force of, and the upper surface of the lid (30) is accommodated in the hole (14) with the upper surface of the lid (30) being close to the upper surface of the spring receiver (27). It is fixed in the hole (14) by. The upper surface of the buoy (15) is a partial cylindrical surface so as to form a part of the outer surface of the underwater vehicle (1) at this time.
【００２８】分離装置(33)の詳細が、図５および図６に
示されている。Details of the separating device (33) are shown in FIGS.
【００２９】分離装置(33)は、ブイ(15)を放出するとき
まで、ブイ(15)の外底面に固定されたボルト(34)の部分
をばね受け(27)に固定して、ブイ(15)を穴(14)内に保持
しておくものであり、その主要部はホルダ(35)内に設け
られている。The separating device (33) fixes the portion of the bolt (34) fixed to the outer bottom surface of the buoy (15) to the spring bearing (27) until the buoy (15) is discharged, and the buoy ( 15) is held in the hole (14), and its main part is provided in the holder (35).
【００３０】ボルト(34)は、ブイ(15)の外底面に垂直に
固定され、分離前には、蓋(30)の上面およびばね受け(2
7)の上面に形成された穴(36)(37)を貫通してばね受け(2
7)内に突出している。The bolt (34) is vertically fixed to the outer bottom surface of the buoy (15), and is separated from the upper surface of the lid (30) and the spring bearing (2) before separation.
Pass through the holes (36) (37) formed in the upper surface of
7) It projects inside.
【００３１】ホルダ(35)は上下両端部が開放された垂直
円筒状をなし、ホルダ(35)内の上寄りの部分に穴(38)の
あいた隔壁(39)が形成されて、これより上側がナット収
容部(40)、下側が圧力室(41)となっている。The holder (35) has a vertical cylindrical shape with both upper and lower ends open, and a partition wall (39) with a hole (38) is formed in the upper portion of the holder (35). The side is a nut housing part (40) and the lower side is a pressure chamber (41).
【００３２】ホルダ(35)のナット収容部(40)内に、三つ
割ナット(42)が３等分されたナット片(42a) を組合わせ
た状態で収容されている。各ナット片(42a) とホルダ(3
5)との間に、剪断ピン(43)がそれぞれ設けられている。
また、１つのナット片(42a)と収容部(40)の内周面との
間に、回り止めのキー(44)が設けられている。In the nut receiving portion (40) of the holder (35), the split nut (42) is stored in a state in which a nut piece (42a) divided into three equal parts is combined. Each nut piece (42a) and holder (3
Shearing pins (43) are provided between them and 5).
Further, a rotation preventing key (44) is provided between one nut piece (42a) and the inner peripheral surface of the accommodating portion (40).
【００３３】ホルダ(35)の下部に、内部に電気***など
が収容されたカートリッジ(45)の上部がＯリング(46)を
介して密閉状にねじ込まれている。An upper portion of a cartridge (45), which accommodates an electric detonator therein, is screwed into a lower portion of the holder (35) in a hermetically sealed manner via an O-ring (46).
【００３４】ホルダ(35)の圧力室(41)内に、上面に短い
ロッド(47a) を備えたピストン(47)が上下摺動自在に収
容されている。ピストン(47)は、分離前には、圧力室(4
1)の下部に位置しており、ロッド(47a) の上端が隔壁(3
9)の穴(38)に臨んで、ボルト(34)の下端に小さな隙間を
あけて対向している。In the pressure chamber (41) of the holder (35), a piston (47) having a short rod (47a) on the upper surface is housed so as to be vertically slidable. The piston (47) had a pressure chamber (4
It is located in the lower part of (1) and the upper end of the rod (47a) is
It faces the hole (38) of 9) and faces the lower end of the bolt (34) with a small gap.
【００３５】ばね受け(27)内に突出したボルト(34)の周
囲に皿ばね(48)がはめられ、その下からホルダ(35)に収
容された三つ割ナット(42)が皿ばね(48)を圧縮させた状
態までねじ込まれており、これにより、ばね(32)の弾性
力に抗して、蓋(30)とブイ(15)がばね受け(27)の上面に
重ねられた状態で固定されている。A disc spring (48) is fitted around the bolt (34) protruding into the spring receiver (27), and the ternary nut (42) housed in the holder (35) is inserted from below to the disc spring (42). 48) is screwed into a compressed state, so that the lid (30) and the buoy (15) are superposed on the upper surface of the spring bearing (27) against the elastic force of the spring (32). It is fixed at.
【００３６】カートリッジ(45)の電気***の電線(49)
は、閉鎖部材(19)の上面に形成されたみぞ(50)の部分を
通して、管制装置(13)に接続されている。Electric wire (49) of the electric detonator of the cartridge (45)
Is connected to the control device (13) through a groove (50) formed on the upper surface of the closing member (19).
【００３７】音波受信装置(18)は、円形穴(14)に近接す
る水中航走体(1) 上部に設けられており、ブイ(15)から
の水中音波を受信する受波器(51)および受波器(51)の信
号を管制装置(13)へ送信する音波受信機(52)より構成さ
れている。The sound wave receiving device (18) is provided above the underwater vehicle (1) close to the circular hole (14), and is a receiver (51) for receiving underwater sound waves from the buoy (15). And a sound wave receiver (52) for transmitting a signal from the wave receiver (51) to the control device (13).
【００３８】図７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) および速度計(10)に基
づいて、推測航法によって上記コースに沿って航走され
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および第２回測位点Ｓ２で衛
星航法によって測位が行われ、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に向かってＬ／２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Ｌ／８の距離の地点にそれぞれ設定されている。Referring to FIG. 7, the course from the launch point A of the underwater vehicle (1) to the target point B is preset, and the underwater vehicle (1) is guided to the target point B. The data for are stored in advance in the control device (13). The underwater vehicle (1) is guided along the course by dead reckoning based on the data stored in the control device (13), the compass (8), the depth gauge (9) and the speedometer (10). Sailed. 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 this positioning result. In this example, if the distance between the launch point A and the target point B is L, the first positioning point S1
Is set at a position L / 2 away from the launch point A toward the target point B, and the second positioning point S2 is set at a point at a distance L / 8 from the target point B to the launch point A side. ..
【００３９】図２〜図６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。The operation of the first position confirmation device (11) at the time of positioning will be described with reference to FIGS.
【００４０】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)のブイ放出装置(16)の分離装置(33)
のカートリッジ(45)にブイ放出指令（分離信号）が送ら
れる。これにより、電気***が作動してカートリッジ(4
5)が爆発し、ピストン(47)の下側の圧力室(41)内に高圧
ガスが充満する。このため、ピストン(47)が上方に移動
しようとするが、すぐにロッド(47a) がボルト(34)の下
端に当たって停止するため、ホルダ(35)が剪断ピン(43)
を切断して下方に移動し、三つ割ナット(42)がホルダ(3
5)から外れる。ナット(42)は、ホルダ(35)から外れる
と、皿ばね(48)により下向きの力を受けて３つのナット
片(42a) に分解する。これにより、ブイ(15)のボルト(3
4)を保持するものがなくなるので、蓋(30)がばね(32)の
弾性力によってフランジ(30a) がストッパ(28)に当たる
まで上昇し、ブイ(15)を上方に押して、穴(14)から水中
に放出する。When the underwater vehicle (1) is launched from the launch point A and reaches the first positioning point S1, the control device (13) causes the buoy releasing device (16) of the first position confirming device (11) to move. Separation Equipment (33)
A buoy release command (separation signal) is sent to the cartridge (45). This activates the electric detonator to activate the cartridge (4
5) explodes, and the high pressure gas fills the pressure chamber (41) below the piston (47). This causes the piston (47) to move upward, but immediately the rod (47a) stops by hitting the lower end of the bolt (34), causing the holder (35) to move to the shear pin (43).
And move it downwards so that the nut (42) is
Remove from 5). When the nut (42) is removed from the holder (35), the nut (42) receives a downward force by the disc spring (48) and is disassembled into three nut pieces (42a). This allows the bolts (3
Since there is nothing to hold 4), the lid (30) is lifted by the elastic force of the spring (32) until the flange (30a) hits the stopper (28), pushing the buoy (15) upwards, and the hole (14). Released into water.
【００４１】ブイ(15)が放出されると、蓋(30)は、フラ
ンジ(30a) がストッパ(28)に当たった状態で停止する。
蓋(30)の上面は、このときに水中航走体(1) の外面の一
部をなすように、部分円筒面になっており、このような
蓋(30)で穴(14)の上部が塞がれるため、水中航走体(1)
の運動に流体的に悪影響を及ぼすことがない。When the buoy (15) is released, the lid (30) stops with the flange (30a) hitting the stopper (28).
The upper surface of the lid (30) is a partial cylindrical surface so that it forms part of the outer surface of the underwater vehicle (1) at this time. Underwater vehicle (1)
It does not have a negative effect on the movement of the robot.
【００４２】水中に放出されたブイ(15)は水面に浮上す
ると、衛星航法装置(17)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
の速度で航走している。When the buoy 15 discharged into the water floats on the surface of the water, positioning by the satellite navigation device 17 is started. Even during this positioning, the underwater vehicle (1) is traveling at a constant depth and at a constant speed.
【００４３】測位が終了すると、衛星航法装置(17)の音
波送信装置(23)から水中航走体(1)の音波受信装置(18)
へ水中音波によって測位データ（緯度データ、経度デー
タ等）が送られ、これがさらに管制装置(13)に送られ
る。管制装置(13)は、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。When positioning is completed, the sound wave transmitter (23) of the satellite navigation device (17) to the sound wave receiver (18) of the underwater vehicle (1).
Positioning data (latitude data, longitude data, etc.) is sent by underwater sound waves to the control device (13). The control device (13) is an underwater vehicle based on positioning data.
Perform trajectory correction processing in (1).
【００４４】水中航走体(1) は、軌道修正されながら推
測航法によって第２回測位地点Ｓ２に向かって航走す
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、推測航法によって目標地点Ｂに向かって航走す
る。The underwater vehicle (1) travels toward the second positioning point S2 by dead reckoning while the trajectory is corrected. Then, when the vehicle reaches the second positioning point S2, the second position confirmation device (12) is operated in the same manner as described above to perform positioning, and the second orbital correction is performed, so that the underwater vehicle
In (1), the vehicle travels toward the target point B by dead reckoning.
【００４５】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(16)としては、管制装置から
のブイ放出指令に基づいてブイ(15)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 the two position confirmation devices (11) and (12), but the number of the position confirmation devices installed is arbitrarily determined according to the number of positionings. be able to. Further, the buoy discharging device (16) is not limited to the above structure as long as the buoy (15) can be discharged from the underwater vehicle based on the buoy discharging command from the control device.
【００４６】上記水中航走体(1) では、ブイ(15)を放出
して水面上に浮上させ、ブイ(15)に設けられた衛星航法
装置(17)によって測位を行い、測位データを水中音波で
送信しているので、水中航走体(1) を水面近くまで浮上
させることなく、衛星航法によって位置確認が行える。
また、水中航走体(1) とブイ(15)との間には測位データ
を送信するケーブルがないので、伝送ケーブルが推進器
(4) に絡まったりブイ(15)が水中航走体(1) の水中航走
運動に影響を与えるおそれがまったくない。In the underwater vehicle (1), the buoy (15) is released and levitated above the surface of the water, and positioning is performed by the satellite navigation device (17) provided in the buoy (15). Since the sound waves are transmitted, it is possible to confirm the position by satellite navigation without floating the underwater vehicle (1) near the surface of the water.
Also, since there is no cable for transmitting positioning data between the underwater vehicle (1) and the buoy (15), the transmission cable is
There is no possibility that the buoy (15) is entangled in (4) or affects the underwater running motion of the underwater vehicle (1).
【００４７】[0047]
【発明の効果】この発明の水中航走体における位置確認
装置によれば、上述のように、ブイを放出して水面上に
浮上させ、ブイに設けられた衛星航法装置によって測位
を行い、測位データを水中音波で送信しているので、ブ
イと水中航走体との間に測位データを送信するケーブル
が不要になり、したがって、水中航走体を水面近くまで
浮上させずに衛星航法によって位置確認が行え、また、
伝送ケーブルが推進器に絡まったりブイ(15)が水中航走
体(1) の水中航走運動に影響を与えるおそれがまったく
ない。According to the position confirming device for an underwater vehicle of the present invention, as described above, the buoy is discharged and floated above the surface of the water, and positioning is performed by the satellite navigation device provided on the buoy. Since data is transmitted by underwater sound waves, a cable for transmitting positioning data between the buoy and the underwater vehicle is not required, and therefore the underwater vehicle can be positioned by satellite navigation without levitating to near the water surface. You can check,
There is no risk that the transmission cable will be entangled with the propulsion device and that the buoy (15) will affect the underwater navigation of the underwater vehicle (1).
【図１】この発明の実施例を示す水中航走体の概略縦断
面図である。FIG. 1 is a schematic vertical sectional view of an underwater vehicle showing an embodiment of the present invention.
【図２】位置確認装置の部分の詳細を示す水中航走体の
縦断面図である。FIG. 2 is a longitudinal sectional view of the underwater vehicle showing the details of the position confirmation device.
【図３】位置確認装置の部分の詳細を示す水中航走体の
横断面図である。FIG. 3 is a cross-sectional view of the underwater vehicle showing the details of the position confirmation device.
【図４】図２のＸ−Ｘ線の断面図である。4 is a cross-sectional view taken along line XX of FIG.
【図５】ブイ放出装置の分離装置の分離前の詳細を示す
縦断面図である。FIG. 5 is a vertical cross-sectional view showing details of the separation device of the buoy discharging device before separation.
【図６】ブイ放出装置の分離装置の分離後の詳細を示す
縦断面図である。FIG. 6 is a vertical cross-sectional view showing details of the separation device of the buoy discharge device after separation.
【図７】水中航走体の航走コースおよび測定位置地点を
示す説明図である。FIG. 7 is an explanatory diagram showing a traveling course and measurement position points of an underwater vehicle.
(1) 水中航走体 (11)(12) 位置確認装置 (13) 管制装置 (15) ブイ (16) ブイ放出装置 (17) 衛星航法装置 (18) 音波受信装置 (21) 受信アンテナ (22) 衛星航法受信機 (23) 音波送信装置 (1) Underwater vehicle (11) (12) Position confirmation device (13) Control device (15) Buoy (16) Buoy emission device (17) Satellite navigation device (18) Sound wave reception device (21) Reception antenna (22 ) Satellite navigation receiver (23) Sound wave transmitter
Claims (1)
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、受信アンテナによって
受信された電波を処理し測位データを作成する衛星航法
受信機および衛星航法受信機で作成した測位データを水
中音波で水中航走体に送信する音波送信装置からなり、
ブイが放出されて水面上に浮上したときに測位を行う衛
星航法装置、 ならびに、水中航走体に設けられ、ブイの音波送信装置
からの水中音波による測位データを受信し管制装置に伝
送する音波受信装置を備えている水中航走体における位
置確認装置。1. A buoy discharging device for discharging a buoy from an underwater vehicle in response to a buoy release command from a buoy stored in the underwater vehicle, or a control device provided in the underwater vehicle. It consists of a receiving antenna, a satellite navigation receiver that processes the radio waves received by the receiving antenna and creates positioning data, and a sound wave transmission device that sends the positioning data created by the satellite navigation receiver to the underwater vehicle with underwater sound waves. ,
A satellite navigation device that performs positioning when a buoy is emitted and floats above the surface of the water, and a sound wave that is installed in the underwater vehicle and receives positioning data by underwater sound waves from the sound wave transmission device of the buoy and transmits it to the control device. Position confirmation device in underwater vehicle equipped with a receiver.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3293357A JP2594854B2 (en) | 1991-11-08 | 1991-11-08 | Position confirmation device for underwater vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3293357A JP2594854B2 (en) | 1991-11-08 | 1991-11-08 | Position confirmation device for underwater vehicles |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH05131978A true JPH05131978A (en) | 1993-05-28 |
| JP2594854B2 JP2594854B2 (en) | 1997-03-26 |
Family
ID=17793747
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP3293357A Expired - Lifetime JP2594854B2 (en) | 1991-11-08 | 1991-11-08 | Position confirmation device for underwater vehicles |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2594854B2 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009292250A (en) * | 2008-06-04 | 2009-12-17 | Ihi Aerospace Co Ltd | Joint/separation system |
| CN103661895A (en) * | 2013-11-30 | 2014-03-26 | 华中科技大学 | Water-jet-propelled deep-sea glider |
| JP2015517959A (en) * | 2012-05-30 | 2015-06-25 | ブルーフィン ロボティックス コーポレイション | Method, system and apparatus for reversing a submersible |
| JP2019098865A (en) * | 2017-11-30 | 2019-06-24 | 国立大学法人東京海洋大学 | Holding/ejecting apparatus of ejected object and underwater sailing body equipped therewith |
-
1991
- 1991-11-08 JP JP3293357A patent/JP2594854B2/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009292250A (en) * | 2008-06-04 | 2009-12-17 | Ihi Aerospace Co Ltd | Joint/separation system |
| JP2015517959A (en) * | 2012-05-30 | 2015-06-25 | ブルーフィン ロボティックス コーポレイション | Method, system and apparatus for reversing a submersible |
| CN103661895A (en) * | 2013-11-30 | 2014-03-26 | 华中科技大学 | Water-jet-propelled deep-sea glider |
| JP2019098865A (en) * | 2017-11-30 | 2019-06-24 | 国立大学法人東京海洋大学 | Holding/ejecting apparatus of ejected object and underwater sailing body equipped therewith |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2594854B2 (en) | 1997-03-26 |
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