JP2787144B2 - Underwater position measuring device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an underwater position measuring device for measuring a slant range between two objects moving underwater and measuring the position of the object.

[0002]

2. Description of the Related Art As a well-known document for measuring the position of a moving object in water, for example, "Acoustic positioning for" Shinkai 6500 ""
No. 6, September 1991, p. 65-8
2), p. 72 to 77, LBL (Long Base Li) is used as an acoustic positioning method.
ne) A method is disclosed. According to the LBL method, first, transponders are installed at three fixed positions in water. Next, when a query pulse signal is transmitted from the moving object, the three transponders transmit respective response pulse signals in response to the query pulse signal. Then, each time from when the moving object transmits the interrogation pulse signal to when the response pulse signal is received (that is, each reciprocating propagation time of the sound wave) is measured and converted into a distance.
Each slant range from a transponder installation position to a moving object is obtained, and the position of the moving object is calculated as the intersection position. The three transponders are identified by changing the transmission frequency and transmission time of the interrogation signal, the operating frequency of the transponder, and the response frequency.

[0003]

However, in the underwater position measuring apparatus as described above, a band-pass filter is provided in order to improve the S / N of a signal which has received signals having different response frequencies from each transponder. But,
Since the pass band of this filter needs to be widened so as not to distort the waveform of the pulse wave, there is a problem that the S / N improvement is limited. When the number of transponders is large, it is necessary to lengthen the transmission interval so that the interrogation signal and the response signal do not overlap in time, and the synchronization of a plurality of slant range measurements is lost. There is also a problem that it is difficult to limit the position of the moving object.

[0004]

An underwater position measuring apparatus according to the present invention is an underwater position measuring apparatus for measuring the position of an object by obtaining a slant range between two objects moving underwater. A plurality of transmitters and a single receiver provided at each position, a single receiver provided at a predetermined position of the other object, and a plurality of continuous wave transmission signals of different frequencies are generated. And a plurality of transmission signal generating means for respectively supplying a plurality of transmitters provided on the one object, and a receiver provided on the one object and a receiver provided on the other object Input each output signal,
A plurality of transmission frequency components included in two input signals are analyzed, and a plurality of transmission frequency components analyzed from a receiver output of the other object with respect to a plurality of transmission frequency components analyzed from a receiver output of one object. And a plurality of transmitters provided on one object and a plurality of transmitters provided on the other object based on the phase difference of each of a plurality of transmission frequency components detected by the spectrum analyzer. And a calculating means for calculating a slant range with the wave device.

According to the present invention, there is provided an underwater position measuring apparatus for measuring a position of an object by obtaining a slant range between two objects moving underwater. Is provided, a single receiver is provided at a predetermined position of the other object, a plurality of transmission signal generating means are respectively provided on the one object to generate continuous wave transmission signals of different frequencies Supplied to the plurality of transmitters provided, respectively, the spectrum analyzer inputs the output signal of the receiver provided on the one object and the output signal of the receiver provided on the other object, respectively, into two input signals. A plurality of transmission frequency components included are analyzed, and the phases of the plurality of transmission frequency components analyzed from the receiver output of the other object with respect to the plurality of transmission frequency components analyzed from the receiver output of one object. Respectively, based on the phase difference for each of a plurality of transmission frequency components detected by the spectrum analyzer, a plurality of transmitters provided on one object and a receiver provided on the other object , The slant ranges between are calculated, so that it is possible to continuously analyze a plurality of transmission frequency components having different frequencies at the same time, and to measure the position of a moving object whose position fluctuates greatly in real time. Further, since the S / N of the received signal is inversely proportional to the analysis frequency bandwidth (ΔF) of the spectrum analyzer, each transmission wave is made to be a continuous wave of a single frequency, so that the analysis time interval proportional to ΔF is optimized. It has become possible to improve the S / N of the signal.

[0006]

FIG. 1 is a diagram showing the configuration of an underwater position measuring apparatus according to Embodiments 1 and 2 of the present invention. In the present invention, two objects (object A and object B)
In this embodiment, the object A is used as an object having a coordinate origin serving as a reference of an underwater position, and the object B is used as an object having a coordinate origin which is a reference of the underwater position. The measured object was measured. For ease of explanation, in the example of FIG. 1, the object A and the object B are assumed to move only in a horizontal plane including both objects, and the coordinates provided on the object A will be described as two-dimensional coordinates including the horizontal plane. (Note that the case of three-dimensional coordinates will be described later.)

In FIG. 1, 1 is a # 1 transmitter and 2 is a # 2 transmitter.
The transmitter 3 is a # 1 receiver, and the above 1 to 3 are installed at predetermined positions of the object A, respectively. Reference numeral 4 denotes a # 2 receiver, which is installed at a predetermined position of the object B. 5 supplies a continuous wave signal of the frequencies F ₁ to a # 1 transmitter # 1 transmitters 1, 6 supply a continuous wave signal of # a 2 transmitter # 2 transmitters 2 to the frequency F ₂ I do. The # 1 and # 2 transmitters 5 and 6 are installed in the object A or on land. Reference numeral 7 denotes a spectrum analyzer which receives the output signals of the # 1 receiver 3 and the # 2 receiver 4 via a transmission cable 9, respectively, and outputs two transmission frequency components included in the two input signals. And a phase difference or a phase difference and a level difference between two input signals for each transmission frequency component are detected. Reference numeral 8 denotes a personal computer, which performs a calculation for calculating a slant range between the objects A and B based on the phase difference detected by the spectrum analyzer 7 or the phase difference and the level difference, and draws an object trajectory. Usually, the spectrum analyzer 7 and the personal computer 8 are installed on land.

Next, # 1 transmitter 1, # 2 transmitter 2 and # 1
The installation position of the receiver 3 will be described. In the arrangement example of FIG. 1, first, a coordinate origin (0, 0) is provided on the object A,
A # 2 transmitter 2 is installed at the origin of the coordinates, and Y ₀ (for example, 0 .0) on the Y axis from the installation position (0, 0) of the # 2 transmitter 2.
5m) away on the object A _(0, Y 0) to set up a # 1 receivers 3, the installation position of the # 1 wave receiver 3 (0, Y ₀₎
(0,2Y ₀ ) on the object A away from the object by Y ₀ on the Y axis
The # 1 transmitter 1 was installed in the system. Also set on object A #
The slant ranges from the first transmitter 1 and the # 2 transmitter 2 to the # 2 receiver 4 installed on the object B were L ₁ (m) and L ₂ (m), respectively.

Embodiment 1 The operation of the first embodiment will be described with reference to FIG. # 1 transmitter 5 of FIG. 1, the frequency F ₁ (H
z) a continuous wave signal (e.g., 1kHz) was supplied to the # 1 wave transmitter 1 of the object A, thereby transmitting sound waves frequencies F ₁ from # 1 wave transmitter 1. Similarly, the # 2 transmitter 6 has a frequency of F ₂ (Hz).
(E.g., 1.1 kHz) the continuous wave signal is supplied to # 2 wave transmitter 2 of the object A, thereby transmitting sound waves of a frequency F ₂ from # 2 wave transmitter 2. The # 1 receiver 3 installed on the object A is #
1 and wave frequencies F ₁ which is transmitting the wave transmitter 1 has propagated the linear distance Y ₀ in water, the frequency F ₂ which has propagated the linear distance Y ₀ in water is transmitting from # 2 wave transmitter 2 A sound wave is received together, and an output signal containing the received two frequency components is supplied to one input of the spectrum analyzer 7 via the transmission cable 9.

[0010] Similarly, the # 2 receiver 4 installed on the object B
Is the slant range L transmitted from the # 1 transmitter 1 and underwater.
₁ and wave frequencies F ₁ that has propagated through the # together reception and sound waves of a frequency F ₂ to the slant range L ₂ propagating in the water is transmitting from 2 wave transmitter 2, the two were the reception An output signal having a frequency component is supplied to the other input of the spectrum analyzer 7 via the transmission cable 9. The spectrum analyzer 7 includes the # 1 receiver 3 and the # 2 receiver 4
The analysis of the signal components of the transmission frequencies F ₁ and F ₂ for the two input signals input from
Transmission frequency F ₁ analyzed from the input signal from one receiver 3
And the phase of the signal component of F ₂ as two reference phases, relative to the frequencies F ₁ and F ₂ of the reference phase, position of the signal components of the frequencies F ₁ was analyzed from the input signal from the # 2 receivers 4 The phase difference θ ₁ and the phase difference θ ₂ of the signal component of the frequency F ₂ are detected.

Here, the effective range of the detected phase differences θ ₁ and θ ₂ is only 360 degrees (for example, the phase difference 1).
Since both 0 ° and 370 ° have the same phase), considering the lag phase and the advance phase with respect to the reference phase, the range is from −180 ° to + 180 °. Considering the wavelength at which the underwater sound wave propagates, the phase changes by 360 degrees while the sound wave propagates over a distance of one wavelength. The change in the phase is proportional to the propagation distance of the sound wave. For example, when the phase change is 90 degrees, the propagation distance is ４ wavelength, and when the phase change is 180 degrees, the propagation distance is 波長 wavelength. And the phase difference θ ₁ is
# 1 is a phase difference between the sound waves of frequencies F ₁ from the wave transmitter 1 is the distance Y ₀ and L ₁ the two received signals propagating respectively (the latter of the phase difference relative to the former), the phase difference theta ₂ Is the phase difference between the two received signals transmitted from the # 2 transmitter 2 at the frequency F _{2 over} the distances Y ₀ and L ₂ , respectively, so that the slant ranges L ₁ and L ₂ and the linear distance If the distance difference from Y ₀ , L ₁ −Y ₀ , L ₂ −Y ₀ is a distance of one wavelength or less, the distance difference L ₁ − from the phase difference θ ₁ , θ _2.
Y ₀ , L ₂ −Y ₀ can be calculated.

Now, the underwater sound speed is set to C (m / sec) (about 15
1 wavelength at frequencies F ₁ when 00m / sec) to the wavelength of about 1.5 m), 1 wavelength at the frequency F ₂ of the case C / F ₁ (for example, F ₁ is 1kHz is C / F _2. Therefore, assuming that both L ₁ and L ₂ are larger than Y ₀ , the distance differences L ₁ −Y ₀ and L ₂ −Y ₀ are given by the following (1),
Equation (2) is obtained, and L ₁ and L ₂ are represented by equations (3) and (4). _{L 1 -Y 0 = - (θ} 1/360) × (C / F 1) ...... (1) L 2 -Y 0 = - (θ 2/360) × (C / F 2) ...... (2) _{L 1 = - (θ 1/} 360) × (C / F 1) + Y 0 ...... (3) L 2 = - (θ 2/360) × (C / F 2) + Y 0 ...... (4) Note that the Since the phase differences θ ₁ and θ ₂ are positive values in the leading phase and negative values in the lagging phase with respect to the reference phase, if both L ₁ and L ₂ are larger than Y ₀ , θ ₁ and θ _{2 become} lagging phases. Will be negative.

L ₁ and L obtained by the above equations (3) and (4)
₂ is limited to within one wavelength of each of the transmission frequencies F ₁ and F ₂ , so that the phase differences θ ₁ and θ ₂ are now −180 degrees to +180 degrees.
Assuming that it is within the range of 180 degrees, the ranges where L ₁ and L ₂ can be obtained are ± (1/2) × (C / F ₁ ) (m) and ± (1
/ 2) × (C / F ₂ ) (m). Therefore, the transmission frequencies F ₁ , F ₂ and # 1, # 2 transmitters 1, 2, and #
The distance Y ₀ between one transmitter 3 is previously set to the slant range L
_1, it is necessary to determine by assuming the fluctuation band of the L _2.
From the expressions (3) and (4), the coordinates (X, Y) of the # 2 receiver 4 are expressed by the following expressions (5) and (6).

[0014]

(Equation 1)

[0015]

(Equation 2)

The personal computer 8 calculates the slant ranges L ₁ and L ₂ and the coordinate position of the # 2 receiver 4 by performing the calculations of the above equations. Note that, in the present invention, # 1 and # 2
The installation positions of the transmitters 1 and 2 and the # 1 receiver 3 are not limited to the arrangement example in FIG. For example, # 1 transmitter 1 and #
Even if the interval between the 1 receiver 3 and the interval between the # 2 receiver 2 and the # 1 receiver 3 are not equal, if the respective installation positions are known, the slant ranges L ₁ , L ₂ and # can be calculated coordinate positions of the 2 receivers 4.

In the embodiment shown in FIG. 1, the position of the object B in two-dimensional coordinates is measured using two transmitters for transmitting F ₁ and F ₂ sound waves having different transmission frequencies. Although an example of the case has been described, the present invention is not limited to this. For example, F ₁ and F with different transmission frequencies
The position of the object B in three-dimensional coordinates can be measured using three transmitters for transmitting the sound waves ₂ and F ₃ respectively. For example, in the arrangement of FIG. 1, a position Y ₀ away from the installation position (0, Y ₀ ) of the object A # 1 receiver 3 in a direction perpendicular to the XY plane (a direction parallel to the Z axis). # 3
By installing a transmitter and transmitting a sound wave of F ₃ , and obtaining a slant range L ₃ from the # 3 transmitter to the # 2 receiver 4, the three-dimensional coordinates of the # 2 receiver 3 are obtained. Position (X, Y,
Z) can be calculated.

Embodiment 2 FIG. In the first embodiment,
Phase difference θ ₁ , θ between two received signals of frequencies F ₁ , F _2
2 , the distance differences L ₁ -Y ₀ , L ₂ -Y
_The measurement distance was limited only when ₀ was one wavelength or less. In the second embodiment, in addition to the phase differences θ ₁ and θ ₂ , a sound pressure level difference between two received signals of frequencies F ₁ and F ₂ so that measurement can be performed even when the distance difference is one wavelength or more. V ₁ and V ₂ are also detected. Now # 1 receiver 3
And # 2 receivers 4 have the same receiving sensitivity, and # 1 transmitters 1 and # 2
2 Assuming that the directional characteristic of the transmitter 2 is omnidirectional (the characteristic that the sound pressure is spherically diffused), the sound pressure level at the receiver with respect to the distance (r) between the transmitter and the receiver Is -20 log
It is thought to decrease in proportion to (r) (in inverse proportion to r ² ).

Therefore, with reference to the sound pressure levels of the two frequencies from the # 1 receiver 3 which have propagated and received the distance Y ₀ ,
When the sound pressure level differences V ₁ and V ₂ of the two frequencies from the # 2 receiver 4 which have propagated and received the distances L ₁ and L ₂ , respectively, are obtained, the distance difference L is obtained from the V ₁ and V _{2. 1} −Y ₀ , L ₂
It is possible to obtain the approximate value of -Y _2. However, the approximate value of the distance difference obtained from this sound pressure level difference is not very accurate. Therefore, in the second embodiment of the present invention, the distance in units of wavelength is obtained from the sound pressure level difference, and the distance of one wavelength or less is obtained from the phase difference. For example, the distance difference L
Assuming that ₁₋ Y ₀ is a distance equivalent to 3.4 wavelengths,
Three wavelengths are obtained from the sound pressure level difference, and 0.4 wavelengths are obtained from the phase difference, so that a total distance of 3.4 wavelengths is calculated.

In the second embodiment, the spectrum analyzer 7 analyzes the signal components of the transmission frequencies F ₁ and F _{2 for} the two input signals input from the # 1 receiver 3 and the # 2 receiver 4 respectively. , And based on the phases and signal levels of the signal components of the transmission frequencies F ₁ and F ₂ analyzed from the input signal from the # 1 receiver 3, this frequency F ₁
And the reference phase and signal level of F ₂ , the phase difference θ ₁ and level difference V ₁ of the signal component of frequency F ₁ analyzed from the input signal from the # 2 receiver 4 and the signal of frequency F ₂ The phase difference θ ₂ and the level difference V _{2 of the} components are detected. In the second embodiment, the slant ranges L ₁ and L ₂ are calculated from the following equations (7) and (8). _{L 1 = {K 1 - (} θ 1/360)} × (C / F 1) + Y 0 ...... (7) L 2 = {K 2 - (θ 2/360)} × (C / F 2) + Y ₀ (8) where K ₁ and K _{2 in the} equations (7) and (8) are integer values that satisfy the following equations (9) and (10), respectively.

[0021]

(Equation 3)

[0022]

(Equation 4)

The personal computer 8 calculates K ₁ and K ₂ satisfying the equations (9) and (10) from θ ₁ , θ ₂ , V ₁ and V ₂ detected by the spectrum analyzer 7, and calculates these as (7) , (8), the slant ranges L ₁ and L _{2 in} which the distance difference is equal to or more than one wavelength can be calculated. Note that also in the second embodiment, the sound waves of F ₁ , F ₂ , and F _{3 having} different transmission frequencies are transmitted.
The position of the object B in the three-dimensional coordinates can be measured using the two transmitters.

In the first and second embodiments, it is possible to continuously and simultaneously analyze received signals from two locations for transmitted signals of two different frequencies. The position can be measured in real time. Also, since the S / N of the received signal is inversely proportional to the analysis frequency bandwidth (ΔF) of the spectrum analyzer 7, by making each transmission wave a continuous wave of a single frequency,
It has also become possible to improve the S / N of the received signal by optimizing the analysis time interval proportional to ΔF.

FIG. 2 is a diagram showing the configuration of the underwater position measuring device according to the third and fourth embodiments of the present invention. The configuration of FIG. 2 eliminates the # 1 receiver 3 from the configuration of FIG.
A variable attenuator 10 that applies a predetermined amount of attenuation to each of the two input signals input from the two transmitters 5 and 6, and outputs a predetermined delay to the two input signals input from the variable attenuator 10. A variable delay circuit 11 for giving time and outputting, and a mixer 12 for mixing two input signals input from the variable delay circuit 11 and supplying the mixed output to one input of the spectrum analyzer 7 as a reference signal. It is provided. Therefore, the variable attenuator 10, the variable delay circuit 11, and the mixer 12 in FIG. 2 have a function that replaces the # 1 receiver 3 in FIG. 1, and generates a reference signal to be supplied to one input of the spectrum analyzer 7. It constitutes signal generation means. Since the other parts of FIG. 2 except for the reference signal generating means perform the same operation with the same configuration as in FIG. 1, only the reference signal generating means will be described in FIG.
In FIG. 2, the # 1 transmitter 5, the # 2 transmitter 6, the variable attenuator 10, the variable delay circuit 11, the mixer 12, the spectrum analyzer 7, and the personal computer 8 are described as being installed on land.

The # 1 transmitter 5 supplies the continuous wave signal of the frequency F ₁ to the # 1 transmitter 1 of the object A via the transmission cable 9 and to one input of the variable attenuator 10. The # variable with 2 transmitter 6 is supplied to # 2 wave transmitter 2 of the object A through the transmission cable 9 a continuous wave signal of frequency F ₂
The other input of the attenuator 10 is supplied. The attenuation of the variable attenuator 10 and the delay time of the variable delay circuit are calibrated so as to generate a reference signal equal to the output signal of the # 1 receiver 3 installed at a certain installation position. In order to facilitate the above, a method of generating a reference signal equivalent to the case where the # 1 receiver 3 is installed at the same position as in FIG. 1 will be described.

In the third and fourth embodiments, before the actual measurement of the moving object, the same operation as in the arrangement example of FIG.
In the underwater position on the line, the # 1 receiver 3 and the # 1 receiver 3
# 1 transmitter 1 with the interval being Y ₀ on both sides and
A # 2 transmitter 2 is provided, and # 1 and # 2 transmitters 1 and 2 transmit continuous waves of the transmission frequencies F ₁ and F ₂ , respectively.
This is the frequency F ₁ , F _{2 of} the signal received by the # 1 receiver 3
The phase and signal level of each signal component are measured in advance. Then, the phase and signal level of each signal component of the frequencies F ₁ and F ₂ measured in this way are compared with the mixer 12 shown in FIG.
Output from the way the phase and signal level of each signal component of the frequency F _1, F ₂ of the reference signal supplied to one input of the spectrum analyzer 7 are the same, the variable delay circuit 11 in every two frequencies The delay time and the amount of attenuation at each of the two frequencies in the variable attenuator 10 are calibrated. By performing the above-described calibration, the output signal of the mixer 12 of FIG. 2 is generated as a reference signal equal to the output signal of the # 1 receiver 3 in the arrangement example of FIG.
The mixer 12 supplies the reference signal generated in this way to one input of the spectrum analyzer 7, and supplies the output signal of the receiver 4 to the other input of the spectrum analyzer 7 as in FIG. Is done.

Embodiment 3 In the third embodiment, FIG.
The spectrum analyzer 7 analyzes the signal components of the transmission frequencies F ₁ and F ₂ with respect to the two input signals input from the mixer 12 and the receiver 4 in the same manner as in the first embodiment. The phases of the signal components of the transmission frequencies F ₁ and F ₂ analyzed from the input signal from the mixer 12 are set as _two reference phases, and the input from the receiver 4 is applied to the reference phases of the frequencies F ₁ and F _2. Frequency F analyzed from signal
Retardation of the retardation theta ₁ and the signal component of the frequency F ₂ of the _first signal component is detected and theta _2. In the example of FIG. 2, the phase and signal level of each signal component of the frequency F _1, F ₂ outputted from the mixer 12 is frequency F _1, F ₂ outputted from the # 1 wave receiver 3 in the arrangement example of FIG. 1 Therefore, in the third embodiment, (3) and (3) described in the first embodiment
The underwater position can be measured by applying the equations (4), (5), and (6) as they are.

Embodiment 4 FIG. In Embodiment 4, FIG.
The spectrum analyzer 7 analyzes the signal components of the transmission frequencies F ₁ and F ₂ with respect to the two input signals input from the mixer 12 and the receiver 4 in the same manner as in the second embodiment. based on the phase and signal level of the signal component of the transmission frequencies F ₁ and F ₂ was analyzed from the input signal from the mixer 12, the phase and signal level of the reference of the frequencies F ₁ and F _2, receivers The phase difference θ ₁ and level difference V ₁ of the frequency F ₁ signal component and the phase difference θ ₂ and level difference V _{2 of} the frequency F ₂ signal component which are analyzed from the input signal from _No. 4 are detected. Also in the fourth embodiment, for the same reason as described above, (7) described in the second embodiment,
The underwater position can be measured by applying equations (8), (9) and (10) as they are. In the third and fourth embodiments, the receiver is not installed on the underwater object A, the number of transmission cables 9 connected to the receiver is reduced by one, and the configuration of the underwater equipment requiring a waterproof structure is simplified. However, even if the number increases, there is an effect of reducing the cost of the entire apparatus.

[0030]

As described above, according to the present invention, in an underwater position measuring apparatus for measuring the position of an object by obtaining a slant range between two objects moving in water, a plurality of objects are provided at predetermined positions of one of the objects. Transmitter and a single receiver are provided, a single receiver is provided at a predetermined position of the other object, and a plurality of transmission signal generation means generate continuous wave transmission signals of different frequencies, respectively. To each of the plurality of transmitters provided on the one object, and the spectrum analyzer inputs the output signals of the receiver provided on the one object and the receiver provided on the other object, respectively. And analyzing a plurality of transmission frequency components included in the two input signals, and analyzing a plurality of transmission frequency components analyzed from the receiver output of the other object with respect to the plurality of transmission frequency components analyzed from the receiver output of one object. frequency The arithmetic means is provided for a plurality of transmitters provided for one object and for the other object based on the phase differences for each of the plurality of transmission frequency components detected by the spectrum analyzer. Since the slant range between the receiver and each receiver is calculated, continuous simultaneous analysis of multiple transmission frequency components with different frequencies is possible, enabling real-time measurement of the position of a moving object whose position fluctuates greatly. Since the S / N of the received signal is inversely proportional to the analysis frequency bandwidth of the spectrum analyzer, the S / N of the received signal can be improved by making each transmission wave a continuous wave of a single frequency. Is obtained.

[Brief description of the drawings]

FIG. 1 is a diagram showing a configuration of an underwater position measuring device according to Embodiments 1 and 2 of the present invention.

FIG. 2 is a diagram illustrating a configuration of an underwater position measuring device according to Embodiments 3 and 4 of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 # 1 wave transmitter 2 # 2 wave transmitter 3 # 1 wave receiver 4 # 2 wave receiver 5 # 1 transmitter 6 # 2 transmitter 7 Spectrum analyzer 8 Personal computer

Continuation of the front page (56) References JP-A-3-189581 (JP, A) JP-A-1-295107 (JP, A) JP-A-61-104272 (JP, A) JP-A-60-243580 (JP, A) , A) JP 8-33441 (JP, B2) JP 4-24671 (JP, B2) (58) Fields investigated (Int. Cl. ⁶ , DB name) G01S 3/80-3/86 G01S 5/18-5/30 G01S 7/52-7/64 G01S 15/00-15/96

Claims (4)

(57) [Claims] An underwater position measuring apparatus for measuring a position of an object by obtaining a slant range between two objects moving in water, comprising: a plurality of transmitters respectively provided at predetermined positions of one object; A single receiver provided at a predetermined position on the other object, and a plurality of transmissions provided on the one object by generating a plurality of continuous wave transmission signals of different frequencies. A plurality of transmission signal generating means for supplying the output signals of the receiver provided on the one object and the receiver provided on the other object, respectively, which are included in the two input signals. Analyzing a plurality of transmission frequency components and detecting a phase difference between a plurality of transmission frequency components analyzed from a receiver output of one object and a plurality of transmission frequency components analyzed from a receiver output of the other object, respectively. Spec And a slant between the plurality of transmitters provided on one object and the receiver provided on the other object based on a phase difference for each of a plurality of transmission frequency components detected by the spectrum analyzer. An underwater position measuring device comprising: a calculating means for calculating each range. 2. An underwater position measuring device for measuring a position of an object by obtaining a slant range between two objects moving in water, comprising: a plurality of transmitters provided at predetermined positions of one of the objects; A single receiver provided at a predetermined position on the other object, and a plurality of transmissions provided on the one object by generating a plurality of continuous wave transmission signals of different frequencies. A plurality of transmission signal generating means for supplying the output signals of the receiver provided on the one object and the receiver provided on the other object, respectively, which are included in the two input signals. While analyzing a plurality of transmission frequency components, a phase difference and a level difference between a plurality of transmission frequency components analyzed from a receiver output of the other object and a plurality of transmission frequency components analyzed from a receiver output of one object are calculated. Check each A spectrum analyzer, based on a phase difference and a level difference for each of a plurality of transmission frequency components detected by the spectrum analyzer, a plurality of transmitters provided in one object and a receiver provided in the other object. An underwater position measuring device comprising: a calculating means for calculating a slant range between the two. 3. An underwater position measuring device for measuring a position of an object by obtaining a slant range between two objects moving underwater, comprising: a plurality of transmitters provided at predetermined positions of one of the objects; A single receiver provided at a predetermined position of the object, a plurality of continuous wave transmission signals of a plurality of different frequencies to generate and supply to the plurality of transmitters provided on the one object respectively Transmission signal generation means, a plurality of signal delay means for respectively delaying output signals of the plurality of transmission signal generation means and outputting the same, and a signal mixing means for mixing and outputting output signals of the plurality of signal delay means And an output signal of the signal mixing means and an output signal of a receiver provided on the other object, respectively, analyzing a plurality of transmission frequency components included in the two input signals, A spectrum analyzer for detecting a phase difference between a plurality of transmission frequency components analyzed from a receiver output of the other object with respect to a plurality of transmission frequency components analyzed from the output of the stage; and a plurality of transmission frequency components detected by the spectrum analyzer. Based on each phase difference, comprising a plurality of transmitters provided on one object and a calculating means for calculating a slant range between the receiver provided on the other object, respectively. Underwater position measurement device. 4. An underwater position measuring device for measuring a position of an object by obtaining a slant range between two objects moving in water, comprising: a plurality of transmitters respectively provided at predetermined positions of one object; A single receiver provided at a predetermined position of the object, a plurality of continuous wave transmission signals of a plurality of different frequencies to generate and supply to the plurality of transmitters provided on the one object respectively Transmitting signal generating means, a plurality of signal attenuating means for attenuating output signals of the plurality of transmitting signal generating means and outputting the signals as a signal of a predetermined level, and delaying output signals of the plurality of signal attenuating means by a predetermined time, A plurality of signal delay means for outputting, a signal mixing means for mixing and outputting the output signals of the plurality of signal delay means, and an output signal of the signal mixing means and a receiver provided on the other object. Each of the output signals of the receiver is input, a plurality of transmission frequency components included in the two input signals are analyzed, and a plurality of transmission frequency components analyzed from the output of the signal mixing means are analyzed from the receiver output of the other object. A spectrum analyzer that detects a phase difference and a level difference between the plurality of transmission frequency components, and a plurality of spectrum analyzers provided on one object based on the phase difference and the level difference for each of the plurality of transmission frequency components detected by the spectrum analyzer. An underwater position measuring device comprising: a calculating means for calculating a slant range between a transmitter and a receiver provided on another object.