JPS60225080A - Underwater level measurement - Google Patents

Underwater level measurement

Info

Publication number
JPS60225080A
JPS60225080A JP8137884A JP8137884A JPS60225080A JP S60225080 A JPS60225080 A JP S60225080A JP 8137884 A JP8137884 A JP 8137884A JP 8137884 A JP8137884 A JP 8137884A JP S60225080 A JPS60225080 A JP S60225080A
Authority
JP
Japan
Prior art keywords
response
frequency
sound wave
sonic
time
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.)
Pending
Application number
JP8137884A
Other languages
Japanese (ja)
Inventor
Iichiro Yamamoto
山本　威一郎
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
NEC Corp
Original Assignee
NEC Corp
Nippon Electric Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by NEC Corp, Nippon Electric Co Ltd filed Critical NEC Corp
Priority to JP8137884A priority Critical patent/JPS60225080A/en
Publication of JPS60225080A publication Critical patent/JPS60225080A/en
Pending legal-status Critical Current

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
    • G01S15/87—Combinations of sonar systems
    • G01S15/874—Combination of several spaced transponders or reflectors of known location for determining the position of a receiver

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

PURPOSE:To facilitate a drastic reduction in the measuring time by emitting interrogation signals simultaneously to first and second sound wave responders from a sound wave transmission/reception measuring apparatus. CONSTITUTION:When interrogation signal frequencies f0 and fx are emitted simultaneously to first and second sound responders 12 and 21-23 from a sound wave transmission/reception measuring apparatus 11, the devices 21-23 receive the frequency fx and emits sound waves of frequencies f1, f2 and f3 in response thereto. On the other hand, the device 12 receives the frequency f0 and emits a sound wave of the frequency fx in response thereto. The sound wave is received with the device 11 while done with the devices 21-23, which emit sound waves of frequencies f1-f3 in response thereto and these sound waves are received with the device 11 again. Therefore, the apparatus 11 calculates the distance between the apparatus 11 and the device 12 from a time difference between the time of oscillating the frequency f0 and the time of receiving the frequency fx, and the intervals between the apparatus 11 and devices 21-23 from the time difference between the time of oscillating the frequency fx therewith and the time of receiving the frequencies f1-f3 therewith to determine the distance. Thus, the measurement of level is enabled. At this point, the reduction in the measuring time is made possible by transmitting the interrogation frequencies f0 and fx simultaneously from the apparatus 11.

Description

【発明の詳細な説明】 （技術分野） 不発明は音波信号を用いて水中の目標位置を三次元的に
計測する水中測位方法に関する。DETAILED DESCRIPTION OF THE INVENTION (Technical Field) The present invention relates to an underwater positioning method for three-dimensionally measuring a target position underwater using a sound wave signal.

（従来技術） 従来、この種の水中測位方法としては、第１図（ａ）、
　（ｂ）に示すような音波計測システムが用いられてい
る。すなわち、観測船１上に搭載された位置計測の制御
を行う音波送受信計測装置１１と、位置計測すべき潜水
船２（またけ曳航体）に搭載された第１の音波応答装置
（トランスポンダ）１２と、あらかじめ海底の所定個所
に設置された複数（３個）の第２の音波応答装置２１．
２２．２３とを用いて、これら第２の音波応答装置２１
〜２３を基準とした第１の音波応答装置１２の位置が泪
測される。(Prior art) Conventionally, this type of underwater positioning method is as shown in Fig. 1(a).
A sound wave measurement system as shown in (b) is used. That is, a sound wave transmission/reception measurement device 11 mounted on the observation vessel 1 that controls position measurement, and a first sound wave response device (transponder) 12 mounted on the submersible vessel 2 (straddle towing body) whose position is to be measured. and a plurality of (three) second sound wave response devices 21. which are installed in advance at predetermined locations on the seabed.
22 and 23, these second sonic wave response devices 21
The position of the first sonic response device 12 with respect to ~23 is measured.

第２図（ａｌ〜山は第１図（ａ）、　ｔｂ）の動作を説
明するタイムチャートである。ロングベースライン方式
においては、まず、第１図ｆａ）のように音波送受信計
測装置１１から第１の応答装置１１に感応する質問周波
数ｆｏの音波を発射する（第２図（ａ）　）。FIG. 2 is a time chart illustrating the operation of FIG. 1 (a) and tb. In the long baseline method, first, as shown in FIG. 1fa), a sound wave having an interrogation frequency fo that is sensitive to the first response device 11 is emitted from the sound wave transmitting/receiving measuring device 11 (FIG. 2(a)).

この音波ｆ、は第１の応答装置１２が受信しく第２図（
ｄ）、この応答装置１２は第２の応答装置２１〜２３に
感応する周波数ｆｘの応答信号を発射する（第２図（Ｃ
）　）、この周波数ｆｘの信号は、音波送受信計測装置
１１で受信される（＠２図（ｂ））と共に、第２の応答
装置２１〜２３でも受信される（　Ｅ４２図１ｆ１．　
（ｈ）、　［１）、コレＧＪ　２　ノＺ答装置１２１〜
２３は、周波数ｆｘヲそれぞれ受信すると、装置毎に異
なる周波数ｆｔ　、　ｆｘ、　ｆｓの音波全それぞれ発
射しく第２図（ｅ）、　（ｇ）、　（ｉ）　）　、音波
送受信計測装置１１においてこれら周波数ｆ１．ｈ、ｆ
ｓの音波がそれぞれ受波される（第２図（ｂ）　）。This sound wave f is not received by the first response device 12 as shown in FIG.
d), this response device 12 emits a response signal of frequency fx that is sensitive to the second response devices 21 to 23 (see FIG. 2(C)).
)), this signal of frequency fx is received by the sound wave transmitting/receiving measuring device 11 (@2 (b)), and is also received by the second response devices 21 to 23 (E42, 1f1.
(h), [1), Kore GJ 2 no Z answer device 121 ~
When 23 receives each frequency fx, it emits all sound waves of frequencies ft, fx, and fs, which are different for each device. f1. h, f
Each of the sound waves of s is received (Fig. 2(b)).

次の段階では、第１図（ｂ）に示すように、音波送受信
計測装置１１から第２の応答装置２１〜２３が感応する
周波数ｆｘの音波が発射され（第２図（ａ））、ｉ２の
応答装置２１〜２３がそれぞれ受け（第２図げ）、　（
ｈ）、　（ｊ））、第２の応答装置２１〜２３は装置毎
に異る周波数ｆ１．ｆ雪、ｆｓ’ｆｃ発射しく第２図（
ｅ）、　（ｇ）、　（ｉｌ　）、再び音波送受信計測装
置１１で受波する（用２図＋ｂｌ　）。In the next step, as shown in FIG. 1(b), the sound wave transmitting/receiving measuring device 11 emits a sound wave with a frequency fx that is sensitive to the second response devices 21 to 23 (FIG. 2(a)), i2 The response devices 21 to 23 each receive (second figure), (
h), (j)), the second response devices 21 to 23 have different frequencies f1. f snow, fs'fc firing Figure 2 (
e), (g), (il), the wave is received again by the sound wave transmitting/receiving measuring device 11 (Figure 2 + bl).

したがって、音波送受信計測装置１１は、質問周波数ｆ
ｏ及びｆｘｋ送信し、第１の音波応答装置１２の応答周
波数ｆｘ及び第２の音波応答装置２１．２２．２３の応
答周波数ｆｔ　、ｆ−、ｆ−を受信し、その質問周波数
の送信時点から応答周波数の受信時点までの時間を計測
し、海中の音波伝播速度を乗じ、音波の走行距離を算出
し、これらのデータから、第２の音波応答装置２１，２
２゜２３を基準とした第１の音波応答装置１２の位置を
算出することができる。Therefore, the sound wave transmission/reception measuring device 11 has the interrogation frequency f
o and fxk, and receive the response frequency fx of the first sonic response device 12 and the response frequencies ft, f-, f- of the second sonic response device 21.22.23, and from the time of transmission of the interrogation frequency. The time until the response frequency is received is measured, multiplied by the sound wave propagation speed in the sea, the traveling distance of the sound wave is calculated, and from these data, the second sound wave response device 21, 2
The position of the first sonic response device 12 with respect to 2°23 can be calculated.

また％第１の音波応答装置１２は、音波送受信計測装置
１１より発射された周波数ｆ、の信号を受けて、応答周
波数ｆｘを発射し、ふたたび音波送受信計測装置１１で
受信されるので、音波送受信計測装置１１においては、
周波数ｆｏ発射時と周波数ｆｘ受信時との時間差から音
波送受信装置１１（即ち観測船１）と第１の音波応答装
置１２（即ち潜水船又は曳航体２）の距離を算出するこ
とができる。In addition, the first sound wave response device 12 receives a signal of frequency f emitted from the sound wave transmission/reception measurement device 11, emits a response frequency fx, and is received again by the sound wave transmission/reception measurement device 11. In the measuring device 11,
The distance between the sonic wave transmitting/receiving device 11 (i.e., the observation vessel 1) and the first sonic wave response device 12 (i.e., the submersible vessel or the towing body 2) can be calculated from the time difference between when the frequency fo is emitted and when the frequency fx is received.

さらに、音波送受信計測装置１１より発射された周波数
ｆｘけ、第２の音波応答装置２１，２２゜２３にて受信
され、第２の音波応答装置２１，２２゜２３はそれぞれ
応答周波数ｆｔ、ｆｘ−ｆｓを発射し、ふたたび音波送
受信計測装置１１で受信されるので、音波送受信計測装
置１１では１周波数ｆｏ発射時と周波数ｆ＋　、ｆｘ　
、ｆｓ受信時の時間差から、音波送受信計測装置１１か
ら、第１の音波応答装置１２．第２の音波応答装置２１
，２２゜２３を経由してふたたび音波送受信計測装置１
１へ戻る経路、即ち三角形の三辺の和の距離を算出する
ことができる。Further, the frequency fx emitted from the sound wave transmission/reception measuring device 11 is received by the second sound wave response device 21, 22° 23, and the second sound wave response device 21, 22° 23 has a response frequency ft, fx−, respectively. fs is emitted and received again by the sound wave transmitting/receiving measuring device 11, so the sound wave transmitting/receiving measuring device 11 can detect the frequencies f+, fx when one frequency fo is emitted.
, fs reception time, from the sound wave transmission/reception measurement device 11 to the first sound wave response device 12 . Second sound wave response device 21
, 22° 23, and the sound wave transmitting/receiving measuring device 1 again.
The path back to 1, that is, the distance of the sum of the three sides of the triangle can be calculated.

また、音波送受信計測装置１１から発射された周波数ｆ
ｘは、第２の音波応答装置２１，２２゜２３で受信され
、第２の音波応答装置２１，２２゜２３はそれぞれ応答
周波数ｆｔ　、ｆｘ　、ｆｓ　ｋ発射し、音波送受信計
測装置１１で受信されるので。Also, the frequency f emitted from the sound wave transmission/reception measurement device 11
x is received by the second sonic response device 21, 22゜23, and the second sonic response device 21, 22゜23 emits response frequencies ft, fx, fsk, respectively, and is received by the sonic wave transmitting/receiving measuring device 11. Because.

音波送受信計測装置１１では周波数ｆｘの発射時と周波
数ｆｔ　、ｆ−、ｆｓ受信時の時間差から。In the sound wave transmission/reception measuring device 11, the difference is determined from the time difference between when the frequency fx is emitted and when the frequencies ft, f-, and fs are received.

音波送受信計測装置１１と、ｍ２の音波応答装置２１．
２２及び２３との間隔全算出することができる。A sound wave transmission/reception measurement device 11, and a sound wave response device 21 of m2.
The entire interval between 22 and 23 can be calculated.

従って、第３図に示すように、音波送受信計測装置１１
、第１の音波応答装置１２、第２の音波応答装置２１，
２２．又は２３で構成する三角形が決足され、あらかじ
め位置が設電されている第２の音波応答装置２１，２２
．２３に対して、音波送受信計測装置１１（観測船１）
、第１の音波応答装置１２（潜水船又は曳航体）の位置
が決足される。Therefore, as shown in FIG.
, first sonic response device 12, second sonic response device 21,
22. or the second sonic wave response devices 21 and 22, in which a triangle consisting of 23 is determined and the position is set in advance.
．． 23, the sound wave transmission/reception measurement device 11 (observation ship 1)
, the position of the first sonic transponder 12 (submersible or towed vehicle) is determined.

このように従来の計測方法でｆ′ｉ、音波送受信計測装
置の二段階の送信操作によって距離を計測している。こ
のため１例えば音波送受信計測装置と第２の音波応答装
置との間隔が７５００ｍ程度あったとすると、一段階の
操作に約１０秒要するので。In this manner, the distance is measured by the conventional measurement method by f'i and the two-step transmission operation of the acoustic wave transmission/reception measuring device. For this reason, 1. For example, if the distance between the sonic wave transmitting/receiving measuring device and the second sonic wave responding device is about 7500 m, it will take about 10 seconds for one step of operation.

二段階操作では約２０秒要することになる。この計測に
ある程度のマージンを考慮すると、−回の計測が約３０
秒かかることになシ、このように計測時間がかかること
は、水中航行体の制御が充分にできないということにな
り、水中航行体制御上の欠点となっていた。A two-step operation would require approximately 20 seconds. Considering a certain margin in this measurement, the -times measurement is approximately 30
However, this long measurement time means that the underwater vehicle cannot be controlled sufficiently, which is a disadvantage in controlling the underwater vehicle.

（発明の目的） 本発明の目的は、このような欠点を除き、音波送受信計
測装置から、第１の音波応答装置と第２の音波応答装置
への質時信号周波数ｆ、及びｆｘを同時に、又は若干時
間差を設けて発射することにより、計測時間を大幅に減
少させた水中測位方法を提供することｉＣある。(Object of the Invention) An object of the present invention is to eliminate such drawbacks and simultaneously transmit quality time signal frequencies f and fx from a sound wave transmission/reception measurement device to a first sound wave response device and a second sound wave response device, Alternatively, it is possible to provide an underwater positioning method in which the measurement time is significantly reduced by emitting signals with a slight time difference.

（発明の構成） 本発明の水中測位方法の構成は、所定の第１および第２
の質問周波数を同時あるいは殆んど同時に船上の音波送
受信計測装置から水中に送信し。(Structure of the Invention) The structure of the underwater positioning method of the present invention is that a predetermined first and second
The interrogation frequencies are simultaneously or almost simultaneously transmitted into the water from a sound wave transmitting/receiving and measuring device onboard the ship.

測位すべき測位体に搭載された第１の音波応答装置によ
り受信された前記第１の質問周波数に応答して前記第２
の質問周波数と同じ質問周波数を送信し、水中固定個所
に設置された複数の第２の音波応答装置によりそれぞれ
受信された前記音波計測装置および＠１の音波応答装置
からの６第２の質問周波数にそれぞれ応答してこれら各
応答装置により異なる応答周波数をそれぞれ送信し、前
記音波送受信計測装置により前記第１の音波応答装置か
らの質問周波数および前記第２の音波応答装置からの各
応答周波数をそれぞれ受けて測位することを特徴とする
。In response to the first interrogation frequency received by the first sound wave response device mounted on the positioning object to be positioned, the second
6 second interrogation frequencies from the sonic wave measurement device and the sonic wave response device @1, which are transmitted with the same interrogation frequency as the interrogation frequency of @1 and received by the plurality of second sonic response devices installed at fixed underwater locations, respectively. In response to these, each of the response devices transmits a different response frequency, and the sonic wave transmission/reception measurement device measures the interrogation frequency from the first sonic response device and each response frequency from the second sonic response device, respectively. It is characterized by receiving and positioning.

（実施例） 次に図面によフ本発明の詳細な説明する。(Example) Next, the present invention will be explained in detail with reference to the drawings.

第４図ｆａ）〜（ｉ）は本発明の実施例の音波計測シス
テムを用いて計測する場合のタイムチャートを示す０本
実施例において、音波計測システムは、第１図（ａ）、
　（ｂ）に示される構成をそのまま用いて、音波送受信
計測装置１１が質問周波数ｆ、およびｆｘを同時に送信
すること罠より、計測時間を短縮することを特徴とする
。FIGS. 4 fa) to (i) show time charts when measuring using the sonic wave measurement system according to the embodiment of the present invention. In this embodiment, the sonic wave measurement system is as shown in FIG.
Using the configuration shown in (b) as is, the sonic wave transmission/reception measuring device 11 transmits the interrogation frequencies f and fx at the same time, thereby shortening the measurement time.

本実施例においては、第４図ｉａ）に示すように、音波
送受信計測装置１１が、第１の音波応答装置１２に感応
する周波数ｆｏ　および第２の音波応答装置２１〜２３
に感応する周波数ｆＸを同時に発射すると、第１の音波
応答装置１２は１周波数ｆｏ　ｉを受信しく第４図１ａ
ｌ　）　、かつこの受信信号に応答して１周波数ｆＸの
音波が発射される（第４図１ｃＩ）。In the present embodiment, as shown in FIG.
When simultaneously emitting frequencies fX that are sensitive to
l), and in response to this received signal, a sound wave of one frequency fX is emitted (FIG. 4 1cI).

この第１の音波応答装置ｆｉ１２からの周波数ｆＸの音
波は、音波送受信計測装置１１で、第４図＋ｂ）のより
に受信されるｔ！１か、第２の音波応答装置２１〜２３
で、第４図げ）、　（ｈ）、　ｆｊｌのように（図の彼
方パルス）受信され、これら受信信号に応答して第２の
音波応答装置２１〜２３から、第４図１ａｌ、　（ｇ）
。The sound wave of frequency fX from the first sound wave response device fi12 is received by the sound wave transmission/reception measurement device 11 at t! 1 or the second sonic response device 21 to 23
In response to these received signals, the second sonic wave response devices 21 to 23 transmit pulses as shown in Fig. 4, 1al, (g). )
.

（ハのようにそれぞれ周波数ｆ１．ｆ＊、ｆｓの音波が
発射される。これらの周波数ｆｒ、ｆｘ、ｆｓはふたた
び音波送受信計測装置１１でＳ第４図（ｂ）のように受
信されることがわかる。(Sound waves with frequencies f1, f*, and fs are emitted, respectively, as shown in C.) These frequencies fr, fx, and fs are again received by the sound wave transmitting/receiving measuring device 11 as shown in FIG. 4(b). I understand.

また、音波送受信計測装置１１において、第４図１ａｌ
において周波数ｆ、と同時に発射された周波数ｆＸは、
第２の音波応答装置２１〜２３で、第４図げ）、　（ｈ
）、　ｆｊｔの先行パルスとして受信され、これら受４
Ｍ倍号に応答して第２の音波応答装置２１〜２３から、
第４図（ｅ）ｓ　（ｇ）−１０の先行パルスのように周
波数ｆ＋　、ｆｘ、ｆｓでそれぞれ発射され。In addition, in the sound wave transmission/reception measuring device 11, FIG.
The frequency fX emitted at the same time as the frequency f is
In the second sonic response devices 21 to 23,
), are received as leading pulses of fjt, and these receivers 4
From the second sound wave response devices 21 to 23 in response to the M multiple,
FIG. 4(e) s (g) The leading pulses of -10 are emitted at frequencies f+, fx, and fs, respectively.

音波送受信計測装置１１で、第４図（ｂｌの先行パルス
のように、ふたたび受信される。The sound wave transmission/reception measuring device 11 receives the pulse again as shown in the preceding pulse in FIG. 4 (bl).

この音波送受信計測装置１１では、第４図ｔｂ）のよう
に、周波数ｆ１ｒ　ｆｚ　ｒ　ｆｓ　ｋそれぞれ２度受
信することになる。音波送受信計測装置１１の送信タイ
ムチャート（第４図（すの周波数ｆ０と。This sound wave transmission/reception measuring device 11 receives frequencies f1r, fz, r fs, and k twice, respectively, as shown in FIG. 4tb). Transmission time chart of the sound wave transmission/reception measuring device 11 (Fig. 4).

これに対応する同受信タイムチャート（第４図（ｂ））
上の周波数ｆｔ　、ｆ−、ｆｓ　との時間差は、第５図
（ａｌに示すように、音波送受信計測装置１１がら第１
の音波応答装置１２と第２の音波応答装置２１゜２２又
は２３を径由して、音波送受信計測装置１１に至る距離
の音波伝送時間に相当する。また、音波送受信計測装置
１１の送信タイムチャート（第４図（ａ））の周波数ｆ
Ｘと、これに対応するＩ同受信タイムチャート（第４図
（ｂ））の周波数ｆｌ＋ｆ！ｎｆｓ　との時間差は、第
５図ｆｂ）に示すように、音波送受信計測装置１１と、
＠２の音波応答装置２１゜２２又は２３との距離の往復
伝送時間に相当する。The corresponding reception time chart (Fig. 4(b))
The time difference with the above frequencies ft, f-, fs is as shown in FIG.
This corresponds to the sound wave transmission time of the distance to the sound wave transmission/reception measuring device 11 via the sound wave response device 12 and the second sound wave response device 21, 22 or 23. In addition, the frequency f of the transmission time chart of the sound wave transmission/reception measuring device 11 (FIG. 4(a))
X and the frequency fl+f! of the corresponding I reception time chart (Fig. 4(b)). nfs, as shown in FIG.
This corresponds to the round trip transmission time of the distance between @2 and the sonic response device 21, 22 or 23.

従って、音波送受信計測装置１１の送信タイムチャート
（＠４図（ａ）のｆｏに対応する同受信タイムチャート
（第４図（ｂ））のｆｌ、ｆ−、ｆ−の方が、送信タイ
ムチャート１１ＴのｆＸＶｃ対応する受信タイムチャー
トＩＩＲのｆ、、ｆ、、ｆ、よりも遅れて到看すること
により、これら周波数ｆ　ｒ　＋ｆ！、ｆ３の判別をす
ることが可能である・また、音波送受信計測装置の受信
タイムチャート１１Ｒ上で、周波数ｆｔ、ｆ−、ｆｓの
分離がでできないときは、これが分解できるように送信
タイムチャート１１Ｔ上で周波数ｆ、とｆＸとの間隔を
若干ずらすことによシ分離することが可能となる。Therefore, the transmission time chart fl, f-, f- of the same reception time chart (Fig. 4 (b)) corresponding to the transmission time chart (fo of @ Fig. 4 (a)) of the sound wave transmission/reception measuring device 11 is By arriving later than f, , f, , f in the reception time chart IIR corresponding to fXVc of 11T, it is possible to determine these frequencies f r +f!, f3. If the frequencies ft, f-, and fs cannot be separated on the reception time chart 11R of the measuring device, the intervals between frequencies f and fX can be slightly shifted on the transmission time chart 11T so that they can be resolved. It becomes possible to separate the two.

（発明の効果） 以上説明したように１本発明によれは％　２段階にわた
る計測を同時に実施して１段階とすることによフ、海底
面に設置された応答装置（トランスポンダ）を基準とし
た、潜水船又は曳航体等の水中の測位の所要時間をほぼ
半分に短縮することができる。(Effects of the Invention) As explained above, the present invention achieves 1.0% by simultaneously performing two steps of measurement and making it into one step. , the time required for underwater positioning of a submersible, a towed vehicle, etc. can be reduced by almost half.

【図面の簡単な説明】[Brief explanation of the drawing]

第１図（ａｌ、　（ｂ）は従来の水中測位システムの第
１段階および第２段階の質問応答の径路を示す構成図、
第２図（ａｌ〜（ｊ）は第１図の動作を示す超音波信号
のタイムチャート、第３図は第１図による測位システム
の構成図、第４図（ａ）〜（」）は不発明の実施である
０図において、１・・・・・観測、２・・・・潜水船。 １１・・・・音波送受信、計測装置、１２・・　第１の
音波応答装置、２１．２２．２３・・・・第２の音波応
答装置、である。 □ｔ ８７図 ８４図FIGS. 1(al) and 1(b) are configuration diagrams showing the route of question answering in the first and second stages of a conventional underwater positioning system;
Fig. 2 (al to (j)) is a time chart of ultrasonic signals showing the operation of Fig. 1, Fig. 3 is a block diagram of the positioning system according to Fig. 1, and Fig. 4 (a) to ('') are not shown. In Figure 0, which is an implementation of the invention, 1... Observation, 2... Submersible vessel, 11... Sound wave transmission/reception, measuring device, 12... First sound wave response device, 21.22. 23...Second sonic response device. □t 87Figure 84

Claims (1)

【特許請求の範囲】[Claims] 所定の第１および第２の質問波数を同時あるいは殆んど
同時に船上の音波送受信計装置から水中に送信し、測位
すべき測位体に搭載されｆｃ第１の音波応答装置により
受信された前記＠１の質問周波数に応答して前記第２の
質問周波数と同じ質問波数を送信し、水中固定個所に設
置された複数の第２の音波応答装置によりそれぞれ受信
された前記音波応答装置および第１の音波応答装置から
の各軍２の質問周波数にそれぞれ応答してこれら各応答
装置により異なる応答周波数音それぞれ送信し、前記音
波送受信計測装置によシ前記第１の音波応答装置からの
質問周波数および前記第２の音波応答装置からの各応答
周波数をそれぞれ受けて測位することを特徴とする水中
測位方法。Predetermined first and second interrogation wave numbers are simultaneously or almost simultaneously transmitted into the water from the sonic transceiver device on board the ship, and are received by the fc first sonic response device mounted on the positioning object to be positioned. The sonic wave transponder transmits the same interrogation wave number as the second interrogation frequency in response to the first interrogation frequency, and is received by each of the plurality of second sonic wave transponders installed at fixed locations underwater. In response to the interrogation frequency of each group 2 from the sonic transponder, each of the transponders transmits a sound with a different response frequency, and the sonic wave transmitting/receiving measuring device transmits the interrogation frequency from the first sonic transponder and the An underwater positioning method characterized in that positioning is performed by receiving each response frequency from a second sound wave response device.
JP8137884A 1984-04-23 1984-04-23 Underwater level measurement Pending JPS60225080A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP8137884A JPS60225080A (en) 1984-04-23 1984-04-23 Underwater level measurement

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP8137884A JPS60225080A (en) 1984-04-23 1984-04-23 Underwater level measurement

Publications (1)

Publication Number Publication Date
JPS60225080A true JPS60225080A (en) 1985-11-09

Family

ID=13744636

Family Applications (1)

Application Number Title Priority Date Filing Date
JP8137884A Pending JPS60225080A (en) 1984-04-23 1984-04-23 Underwater level measurement

Country Status (1)

Country Link
JP (1) JPS60225080A (en)

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