Transmission equipment location estimation apparatus and method estimating location of transmission device underwater

Abstract

A transmitting device position estimation device and a method for estimating the position of a transmitting device underwater are disclosed. The transmitting device position estimation device according to the present invention is a transmitting device position estimation device for estimating the position of a transmitting device underwater, and comprises: a distance position estimation unit that estimates the distance and position of a transmitting device based on the time until receiving a transmission signal transmitted by the transmitting device and the speed of the transmission signal; a direction estimation unit that estimates the direction of the transmitting device; and an estimated position confirmation unit that confirms the estimated position of the transmitting device based on the estimated distance and position of the transmitting device and the estimated direction of the transmitting device.

Description

Technology Field

[0001] The present invention relates to a transmitting device position estimation device and a transmitting device position estimation method, and more specifically, to a transmitting device position estimation device and a transmitting device position estimation method for estimating the position of a transmitting device underwater, which can accurately estimate the position of a transmitting device without error even when signals reflected by the seabed and sea surface are received not only in deep water but also in shallow water. Background Technology

[0002] With the development of digital electronic devices and communication technologies, it has become possible to install underwater communication devices on fish, divers, nets, and underwater equipment, and to monitor fish distribution, recover from underwater accidents, rescue underwater lives, and assess underwater situations by utilizing information communication between these devices.

[0003] Each of these underwater communication devices is assigned a unique ID, and the transmitting device includes its ID in the transmitted signal and sends it, while the receiving device identifies each transmitting device and estimates its location based on the IDs of the signals transmitted from multiple transmitting devices.

[0004] However, in shallow underwater channel environments, signals transmitted by the transmitting device are reflected by the sea surface and seabed, and there is a problem in that the location of the transmitting device estimated based on the reflected signals differs significantly from the actual location information of the transmitting device. Prior art literature

[0005] Published Patent Application No. 10-2023-0096275 (Date of publication: June 30, 2023) The problem to be solved

[0006] The present invention was devised to solve the aforementioned problems and aims to provide a transmitting device position estimation device and a transmitting device position estimation method that can accurately estimate the position of a transmitting device without error, even when signals reflected by the seabed and sea surface are received in shallow water as well as in deep water. means of solving the problem

[0007] A transmitting device position estimation device according to one aspect of the present invention for achieving the aforementioned purpose is a transmitting device position estimation device for estimating the position of a transmitting device underwater, comprising: a distance position estimation unit that estimates the distance and position of the transmitting device based on the time until receiving a transmission signal transmitted by the transmitting device and the speed of the transmission signal; a direction estimation unit that estimates the direction of the transmitting device; and an estimated position confirmation unit that confirms the estimated position of the transmitting device based on the estimated distance and position of the transmitting device and the estimated direction of the transmitting device.

[0008] Here, the estimated position verification unit may include: a vertical distance calculation unit that calculates a vertical distance to the transmitting device based on the estimated distance and position of the transmitting device and the estimated direction of the transmitting device; and an estimated position correction unit that corrects the estimated position of the transmitting device when the calculated vertical distance is greater than or equal to a preset distance.

[0009] Additionally, the estimated position verification unit may further include a reflection angle estimation unit that estimates the reflection angle of the transmitted signal on the seabed or sea surface when the calculated vertical distance is greater than or equal to a preset distance; and a reflection distance calculation unit that calculates the reflection distance to the reflection point of the transmitted signal. In this case, the estimated position correction unit corrects the estimated position of the transmitting device based on the estimated distance of the transmitting device, the estimated reflection angle, and the calculated reflection distance to the reflection point.

[0010] The aforementioned transmitting device position estimation device further includes a signal receiving module that receives the transmission signal using a plurality of receiving sensors; and the distance position estimation unit and the direction estimation unit can estimate the distance and position and the direction of the transmitting device by sharing at least one of the plurality of receiving sensors.

[0011] In addition, the aforementioned transmitting device position estimation device further includes a signal receiving module that receives the transmission signal using a plurality of receiving sensors; and the distance position estimation unit and the direction estimation unit may estimate the distance and position and the direction of the transmitting device using different receiving sensors among the plurality of receiving sensors.

[0012] A method for estimating the position of a transmitting device according to one aspect of the present invention for achieving the aforementioned purpose comprises, in a method for estimating the position of a transmitting device underwater, a step of estimating the distance and position of the transmitting device based on the time until receiving a transmission signal transmitted by the transmitting device and the speed of the transmission signal; a step of estimating the direction of the transmitting device; and a step of confirming the estimated position of the transmitting device based on the estimated distance and position of the transmitting device and the estimated direction of the transmitting device.

[0013] Here, the step of verifying the estimated position of the transmitting device may include: a step of calculating a vertical distance to the transmitting device based on the estimated distance and position of the transmitting device and the estimated direction of the transmitting device; and a step of correcting the estimated position of the transmitting device if the calculated vertical distance is greater than or equal to a preset distance.

[0014] Additionally, the step of verifying the estimated position of the transmitting device may further include: a step of estimating the reflection angle of the transmitted signal on the seabed or sea surface when the calculated vertical distance is greater than or equal to a preset distance; and a step of calculating the reflection distance to the reflection point of the transmitted signal. In this case, the step of correcting the estimated position corrects the estimated position of the transmitting device based on the estimated distance of the transmitting device, the estimated reflection angle, and the calculated reflection distance to the reflection point.

[0015] The above-described method for estimating the location of a transmitting device further includes the step of receiving the transmission signal using a plurality of receiving sensors included in a signal receiving module; and the steps of estimating the distance and location of the transmitting device and estimating the direction of the transmitting device may estimate the distance and location and the direction of the transmitting device by sharing at least one of the plurality of receiving sensors.

[0016] In addition, the above-described method for estimating the location of a transmitting device further includes the step of receiving the transmission signal using a plurality of receiving sensors included in a signal receiving module; and the steps of estimating the distance and location of the transmitting device and estimating the direction of the transmitting device may estimate the distance and location and the direction of the transmitting device by using different receiving sensors among the plurality of receiving sensors. Effects of the invention

[0017] According to the present invention, the location of a transmitting device can be accurately estimated without error even when signals reflected by the seabed and sea surface are received not only in deep water but also in shallow water. Brief explanation of the drawing

[0018] FIG. 1 is a schematic diagram illustrating the configuration of a transmitter position estimation device for estimating the position of a transmitter underwater according to an embodiment of the present invention. Figure 2 is a schematic diagram illustrating the configuration of the estimated position verification unit shown in Figure 1. Figure 3 is a diagram illustrating an example of estimating the distance and direction of a transmitting device by sharing multiple receiving sensors. FIG. 4 is a diagram illustrating an example of estimating the distance and direction of a transmitting device using multiple different receiving sensors. Figure 5 is a diagram illustrating an example of estimating the location of a transmitting device. FIG. 6 is a flowchart illustrating a method for estimating the location of a transmitting device according to an embodiment of the present invention. Specific details for implementing the invention

[0019] Hereinafter, some embodiments of the present invention will be described with reference to exemplary drawings. In labeling the components of each drawing with reference numerals, the same components are indicated by the same reference numeral whenever possible, even if they are shown in different drawings. Furthermore, in describing the embodiments of the present invention, if it is determined that a detailed description of related known components or functions would hinder understanding of the embodiments of the present invention, such detailed description is omitted.

[0020] In addition, terms such as first, second, A, B, (a), (b), etc., may be used when describing the components of the embodiments of the present invention. These terms are intended merely to distinguish the components from other components, and the essence, order, or sequence of the components is not limited by these terms. Where it is stated that a component is "connected," "combined," or "connected" to another component, it should be understood that the component may be directly connected, combined, or connected to the other component, but that another component may also be "connected," "combined," or "connected" between the component and the other component.

[0021] FIG. 1 is a schematic diagram illustrating the configuration of a transmitter position estimation device for estimating the position of a transmitter underwater according to an embodiment of the present invention, and FIG. 2 is a schematic diagram illustrating the configuration of an estimated position verification unit shown in FIG. 1. Here, the transmitter position estimation device (100) is installed in a receiving device that receives a signal transmitted by a transmitter, and is therefore also called a receiving device.

[0022] Referring to FIGS. 1 and 2, the transmitting device position estimation device (100) includes a distance position estimation unit (102), a direction estimation unit (104), and an estimated position verification unit (106). Additionally, the estimated position verification unit (106) may include a vertical distance calculation unit (108), an estimated position correction unit (110), a reflection angle estimation unit (112), and a reflection distance calculation unit (114).

[0023] The distance and location estimation unit (102) estimates the distance and location of the transmitting device based on the time until the transmitting device transmits the transmission signal and the speed of the transmission signal. Here, assuming that the speed of the transmission signal in the water of the transmitting device is c and that the transmission signal is received t time after the time the transmitting device transmits the transmission signal, the distance and location estimation unit (102) can estimate the distance to the transmitting device as a value of cxt.

[0024] Meanwhile, as illustrated in FIGS. 3 and 4, the transmitting device location estimation device (100) includes a signal receiving module (10) equipped with a plurality of receiving sensors (12), and can receive a transmission signal transmitted by the transmitting device through each receiving sensor (12). In this case, the distance location estimation unit (102) can estimate the location of the transmitting device underwater by using the distance to the transmitting device and the difference in time delay or phase of the signal received by each receiving sensor (12). Since the method of estimating the location of the transmitting device using the difference in time delay or phase of the signal is a known technology, a detailed description thereof is omitted here.

[0025] The direction estimation unit (104) estimates the direction of the transmitting device. At this time, the direction estimation unit (104) can estimate the direction of the transmitting device based on the difference between the reference direction and the direction formed by the receiving sensor (12) with the greatest signal strength among the receiving sensors (12) provided in the signal receiving module (10). In this case, the direction estimation unit (104) sets the vertical downward direction from the current position of the transmitting device position estimation device (100) as the reference direction, and can estimate the direction of the transmitting device based on the difference between the direction in which the signal is received from the transmitting device and the reference direction.

[0026] Here, the distance position estimation unit (102) and the direction estimation unit (104) can estimate the distance and position and direction of the transmitting device by sharing a plurality of receiving sensors (12) provided in the signal receiving module (10) as shown in FIG. 3.

[0027] In addition, the distance position estimation unit (102) and the direction estimation unit (104) may estimate the distance and position and the direction of the transmitting device by using different receiving sensors (20, 30) among a plurality of receiving sensors provided in the signal receiving module (10), as shown in FIG. 4.

[0028] The estimated position verification unit (106) verifies the estimated position of the transmitting device based on the distance and position of the transmitting device estimated by the distance position estimation unit (102) and the direction of the transmitting device estimated by the direction estimation unit (104).

[0029] Generally, in deep water environments, as shown in Path 1 of Fig. 5, the signal transmitted from the transmitting device is received directly, so the location of the transmitting device can be estimated if the direction in which the transmitted signal is received and the distance to the transmitting device are known. Furthermore, the location of the transmitting device estimated in this way is within the margin of error with the actual location of the transmitting device underwater.

[0030] However, in a shallow underwater environment, a signal transmitted by a transmitting device may be received by being reflected off the sea surface or seabed, as shown in Path 2 of Fig. 5. In such a case, although the actual distance to the transmitting device is d1, the receiving device is unaware that the signal transmitted by the transmitting device is received by being reflected off the sea surface or seabed; therefore, the distance to the transmitting device can be estimated as t2 x c = d2 based on the time t2 corresponding to Path 2. Furthermore, the receiving device can estimate that the transmitting device is located in the direction of the signal reflected off the sea surface or seabed, that is, the reception direction of the reflected wave, θ2. In other words, in a shallow underwater environment, even though the actual transmitting device is located at a distance d1 in the direction of θ1, it can be estimated to be located at a distance d2 in the direction of θ2 based on the signal received by being reflected off the sea surface or seabed, which leads to the problem of estimating a location that is significantly different from the actual location of the transmitting device underwater.

[0031] To solve this problem, the estimated position verification unit (106) verifies the estimated position of the transmitting device based on the distance and position of the transmitting device estimated by the distance position estimation unit (102) and the direction of the transmitting device estimated by the direction estimation unit (104). Below, the method by which the estimated position verification unit (106) verifies the estimated position of the transmitting device is described in detail.

[0032] The vertical distance calculation unit (108) calculates the vertical distance to the transmitting device based on the distance and location of the transmitting device estimated by the distance location estimation unit (102) and the direction of the transmitting device estimated by the direction estimation unit (104). At this time, the vertical distance calculation unit (106) can calculate the vertical distance to the transmitting device by taking the cosine of the direction of the transmitting device estimated by the direction estimation unit (104) with respect to the distance of the transmitting device estimated by the distance location estimation unit (102).

[0033] For example, when a signal is received directly from a transmitting device as shown in path 1 of FIG. 5, the vertical distance calculation unit (108) can calculate the vertical distance of the transmitting device by taking the cosine value of the direction θ1 of the transmitting device estimated by the direction estimation unit (104) for the distance d1 of the transmitting device estimated by the distance position estimation unit (102).

[0034] In addition, when a reflected wave reflected from the sea surface or seabed is received as shown in path 2 of FIG. 5, the vertical distance calculation unit (108) can calculate the vertical distance of the transmitting device by taking the cosine value of the direction θ2 of the transmitting device estimated by the direction estimation unit (104) for the distance d2 of the transmitting device estimated by the distance position estimation unit (102).

[0035] Meanwhile, assuming the depth of the sea area is known and its value is du, the vertical distance d1cosθ1 calculated by the vertical distance calculation unit (108) in the case of receiving a signal directly from the transmitting device becomes a value less than or equal to the depth du. In this case, the estimated position verification unit (106) can determine the position of the transmitting device according to the distance and position of the transmitting device estimated by the distance position estimation unit (102) and the direction of the transmitting device estimated by the direction estimation unit (104). That is, if the value obtained by taking the cosine of the angle of the direction estimated by the direction estimation unit (104) with respect to the distance estimated by the distance position estimation unit (102) is less than or equal to the depth of the sea area, the estimated position verification unit (106) determines the position as being at the location of path 1 in Fig. 5 according to the distance and position of the transmitting device estimated by the distance position estimation unit (102) and the direction of the transmitting device estimated by the direction estimation unit (104).

[0036] However, when a reflected wave reflected from the sea surface or seabed is received, the vertical distance d2cosθ2 calculated by the vertical distance calculation unit (108) is greater than the depth du. In this case, the estimated position verification unit (106) determines that the signal received from the transmitting device is a reflected wave reflected by the sea surface or seabed.

[0037] The estimated position correction unit (110) corrects the estimated position of the transmitting device when the vertical distance calculated by the vertical distance calculation unit (108) is greater than or equal to a preset distance. That is, when the estimated position correction unit (110) determines by the estimated position verification unit (106) that the signal received from the transmitting device is a reflected wave reflected from the sea surface or seabed, it corrects the estimated position of the transmitting device based on the distance and position of the transmitting device estimated by the distance position estimation unit (102) and the direction of the transmitting device estimated by the direction estimation unit (104). For example, as shown in path 2 of FIG. 5, when a transmission signal transmitted by the transmitting device is received through path 2, the position of the transmitting device estimated by the distance d2 of the transmitting device estimated by the distance position estimation unit (102) and the direction θ2 of the transmitting device estimated by the direction estimation unit (104)—that is, a position d2 away in the direction of θ2—is corrected.

[0038] To this end, the reflection angle estimation unit (112) estimates the reflection angle of the transmitted signal on the seabed or sea surface when the vertical distance calculated by the vertical distance calculation unit (108) is greater than or equal to a preset distance. At this time, the reflection angle estimation unit (112) estimates that the reflection angle on the seabed or sea surface is the same angle as the reception angle (θ2) of the received reflected wave. In this case, the reflection angle estimation unit (112) assumes that the transmitted signal transmitted by the transmitting device is incident (θin) on the sea surface or seabed at the same angle as the reception angle (θ2) of the reflected wave and is reflected (θout) at the same angle.

[0039] The reflection distance calculation unit (114) calculates the reflection distance to the reflection point of the transmission signal transmitted by the transmission device. At this time, the reflection distance calculation unit (114) may also calculate the reflection distance between each reflection point when the transmission signal transmitted by the transmission device is continuously reflected from the sea surface and the seabed.

[0040] For example, as shown in path 2 of FIG. 5, when a signal transmitted by a transmitting device is received by being continuously reflected from the sea surface and the seabed, the reflection distance calculation unit (114) can calculate the first reflection distance from the receiving device to the reflection point a1 and the second reflection distance from the reflection point a1 to the reflection point a2, respectively.

[0041] At this time, since the reflection distance calculation unit (114) knows the depth of the sea area and the depth of the receiving device (i.e., the transmitting device position estimation device (100)), it can calculate the first reflection distance to the reflection point a1 by taking the secant (secθ2 = 1 / cosinθ2) of the reception angle (θ2) of the reflected wave with respect to the distance from the receiving device to the seabed.

[0042] In addition, the reflection distance calculation unit (114) can calculate the second reflection distance from reflection point a1 to reflection point a2 by taking the secant (secθ2) of the reception angle (θ2) of the reflected wave at the depth.

[0043] The estimated position correction unit (110) sums up each reflection distance calculated by the reflection distance calculation unit (114) and corrects the estimated position of the transmitting device based on the summed value. At this time, the estimated position correction unit (110) sets a reflection path from the receiving device to the seabed and the sea surface based on the direction estimated by the direction estimation unit (104) and the depth of the sea area, and can correct the position of the transmitting device to the point where the sum of the reflection distances among the set reflection paths equals the distance estimated by the distance position estimation unit (102).

[0044] For example, the estimation position correction unit (110) can set a reflection path such as path 2 of FIG. 5 based on the reception angle θ2 of the reflected wave and the depth du. In addition, the estimation position correction unit (110) can sum the first reflection distance to reflection point a1 and the second reflection distance from reflection point a1 to reflection point a2, and correct the point where the sum of the total reflection distances in the reflection path from reflection point a2 becomes equal to the distance d2 estimated by the distance position estimation unit (102) as the position of the transmitting device.

[0045] Through this, the transmitting device location estimation device according to an embodiment of the present invention can accurately estimate the location of the transmitting device even if the transmission signal transmitted by the transmitting device in a shallow water environment is received after being reflected from the sea surface or the seabed.

[0046] FIG. 6 is a flowchart illustrating a method for estimating the location of a transmitting device according to an embodiment of the present invention. The method for estimating the location of a transmitting device according to an embodiment of the present invention can be performed by a transmitting device location estimation device (100) shown in FIG. 1 and FIG. 2.

[0047] Referring to FIGS. 1 to 6, the transmitting device position estimation device (100) estimates the distance and position of the transmitting device based on the time until the transmitting device transmits the transmission signal and the speed of the transmission signal (S102). Here, assuming that the speed of the transmission signal in the water of the transmitting device is c and that the transmission signal is received after time t from the time the transmitting device transmits the transmission signal, the distance position estimation unit (102) can estimate the distance to the transmitting device as a value of cxt.

[0048] Meanwhile, the transmitting device location estimation device (100) includes a signal receiving module (10) equipped with a plurality of receiving sensors (12), and can receive a transmission signal transmitted by the transmitting device through each receiving sensor (12). In this case, the transmitting device location estimation device (100) can estimate the location of the transmitting device underwater by using the distance to the estimated transmitting device and the difference in time delay or phase of the signal received by each receiving sensor (12). Since the method of estimating the location of the transmitting device using the difference in time delay or phase of the signal is a known technology, a detailed description thereof is omitted here.

[0049] The transmitting device position estimation device (100) estimates the direction of the transmitting device (S104). At this time, the transmitting device position estimation device (100) can estimate the direction of the transmitting device based on the difference between the reference direction and the direction formed by the receiving sensor (12) with the greatest signal strength among the receiving sensors (12) provided in the signal receiving module (10). In this case, the transmitting device position estimation device (100) sets the vertical downward direction from the current position as the reference direction and can estimate the direction of the transmitting device based on the difference between the direction in which the signal is received from the transmitting device and the reference direction.

[0050] Here, the transmitting device location estimation device (100) can estimate the distance and location and direction of the transmitting device by sharing a plurality of receiving sensors (12) provided in the signal receiving module (10).

[0051] Additionally, the transmitting device location estimation device (100) may estimate the distance and location and direction of the transmitting device by using different receiving sensors (20, 30) among a plurality of receiving sensors provided in the signal receiving module (10).

[0052] The transmitting device location estimation device (100) determines the estimated location of the transmitting device based on the distance and location of the transmitting device and the direction of the transmitting device (S106).

[0053] Generally, in deep water environments, as shown in Path 1 of Fig. 5, the signal transmitted from the transmitting device is received directly, so the location of the transmitting device can be estimated if the direction in which the transmitted signal is received and the distance to the transmitting device are known. Furthermore, the location of the transmitting device estimated in this way is within the margin of error with the actual location of the transmitting device underwater.

[0054] However, in a shallow underwater environment, a signal transmitted by a transmitting device may be received by being reflected off the sea surface or seabed, as shown in Path 2 of Fig. 5. In such a case, although the actual distance to the transmitting device is d1, the receiving device is unaware that the signal transmitted by the transmitting device is received by being reflected off the sea surface or seabed; therefore, the distance to the transmitting device can be estimated as t2 x c = d2 based on the time t2 corresponding to Path 2. Furthermore, the receiving device can estimate that the transmitting device is located in the direction of the signal reflected off the sea surface or seabed, that is, the reception direction of the reflected wave, θ2. In other words, in a shallow underwater environment, even though the actual transmitting device is located at a distance d1 in the direction of θ1, it can be estimated to be located at a distance d2 in the direction of θ2 based on the signal received by being reflected off the sea surface or seabed, which leads to the problem of estimating a location that is significantly different from the actual location of the transmitting device underwater.

[0055] To solve such problems, the transmitting device location estimation device (100) determines the estimated location of the transmitting device based on the estimated distance and location of the transmitting device and the estimated direction of the transmitting device. Below, the method by which the transmitting device location estimation device (100) determines the estimated location of the transmitting device is described in detail.

[0056] The transmitting device position estimation device (100) calculates the vertical distance to the transmitting device based on the estimated distance and position of the transmitting device and the direction of the estimated transmitting device (S108). At this time, the transmitting device position estimation device (100) can calculate the vertical distance to the transmitting device by taking the cosine of the estimated distance to the transmitting device in the direction of the estimated transmitting device.

[0057] For example, when a signal is received directly from a transmitting device as shown in path 1 of FIG. 5, the transmitting device location estimation device (100) can calculate d1cosθ1, which is the cosine value of the direction θ1 of the transmitting device estimated for the distance d1 of the transmitting device estimated, as the vertical distance of the transmitting device.

[0058] In addition, when a reflected wave reflected from the sea surface or seabed is received as shown in path 2 of FIG. 5, the transmitting device position estimation device (100) can calculate the vertical distance of the transmitting device by taking the cosine value of the direction θ2 of the transmitting device for the estimated distance d2 of the transmitting device.

[0059] Meanwhile, if the depth of the sea area is known and its value is assumed to be du, the calculated vertical distance d1cosθ1 when receiving a signal directly from the transmitting device becomes a value less than or equal to the depth du. In this case, the transmitting device location estimation device (100)) can determine the location of the transmitting device based on the estimated distance and location of the transmitting device and the estimated direction of the transmitting device. That is, if the value obtained by taking the cosine of the angle of the estimated direction with respect to the estimated distance is less than or equal to the depth of the sea area (S110), the transmitting device location estimation device (100) determines the location as being at the position of path 1 in Fig. 5 based on the estimated distance and location of the transmitting device and the estimated direction of the transmitting device.

[0060] However, when a reflected wave is received that is reflected from the sea surface or seabed, the calculated vertical distance d2cosθ2 is greater than the depth du. In this case, the transmitting device position estimation device (100) determines that the signal received from the transmitting device is a reflected wave that is reflected by the sea surface or seabed.

[0061] The transmitting device position estimation device (100) corrects the estimated position of the transmitting device when the calculated vertical distance is greater than or equal to a preset distance. That is, if the transmitting device position estimation device (100) determines that the signal received from the transmitting device is a reflected wave reflected from the sea surface or seabed, it corrects the estimated position of the transmitting device based on the estimated distance and position of the transmitting device and the estimated direction of the transmitting device. For example, as shown in path 2 of FIG. 5, when a transmission signal transmitted by the transmitting device is received through path 2, the transmitting device position estimation device (100) corrects the position of the transmitting device estimated by the estimated distance d2 of the transmitting device and the estimated direction θ2 of the transmitting device, that is, a position d2 away in the direction of θ2.

[0062] To this end, the transmitting device position estimation device (100) estimates the reflection angle of the transmitted signal on the seabed or sea surface when the calculated vertical distance is greater than or equal to a preset distance (S112). At this time, the transmitting device position estimation device (100) estimates that the reflection angle on the seabed or sea surface is the same angle as the reception angle (θ2) of the received reflected wave. In this case, the transmitting device position estimation device (100) assumes that the transmitted signal transmitted by the transmitting device is incident (θin) on the sea surface or seabed at the same angle as the reception angle (θ2) of the reflected wave and is reflected (θout) at the same angle.

[0063] The transmitting device location estimation device (100) calculates the reflection distance to the reflection point of the transmission signal transmitted by the transmitting device (S114). At this time, the transmitting device location estimation device (100) may also calculate the reflection distance between each reflection point when the transmission signal transmitted by the transmitting device is continuously reflected from the sea surface and the seabed.

[0064] For example, as shown in path 2 of FIG. 5, when a signal transmitted by a transmitting device is received by being continuously reflected from the sea surface and the seabed, the transmitting device position estimation device (100) can calculate a first reflection distance from the receiving device to the reflection point a1 and a second reflection distance from the reflection point a1 to the reflection point a2, respectively.

[0065] At this time, since the transmitting device position estimation device (100) knows the depth of the sea area and the depth of the receiving device (i.e., the transmitting device position estimation device (100)), it can calculate the first reflection distance to the reflection point a1 by taking the secant (secθ2 = 1 / cosinθ2) of the reception angle (θ2) of the reflected wave with respect to the distance from the receiving device to the seabed.

[0066] In addition, the transmitting device position estimation device (100) can calculate the second reflection distance from reflection point a1 to reflection point a2 by taking the secant (secθ2) of the reception angle (θ2) of the reflected wave at the depth.

[0067] The transmitting device position estimation device (100) sums up each calculated reflection distance and corrects the estimated position of the transmitting device based on the summed value (S116). At this time, the transmitting device position estimation device (100) sets a reflection path from the receiving device to the seabed and sea surface based on the direction of the transmitting device being estimated, the reflection angle from the seabed or sea surface being estimated, and the depth of the sea area, and can correct the position of the transmitting device to the point where the sum of the reflection distances among the set reflection paths equals the distance of the transmitting device being estimated.

[0068] For example, the transmitting device position estimation device (100) can set a reflection path such as path 2 of FIG. 5 based on the reception angle θ2 of the reflected wave and the depth du. In addition, the transmitting device position estimation device (100) can sum the first reflection distance to reflection point a1 and the second reflection distance from reflection point a1 to reflection point a2, and correct the point where the sum of the total reflection distances in the reflection path from reflection point a2 becomes equal to the distance d2 estimated by the distance position estimation unit (102) as the position of the transmitting device.

[0069] Through this, the transmitting device location estimation device according to an embodiment of the present invention can accurately estimate the location of the transmitting device even if the transmission signal transmitted by the transmitting device in a shallow water environment is received after being reflected from the sea surface or the seabed.

[0070] Although embodiments according to the present invention have been described above, they are merely illustrative and those skilled in the art will understand that various modifications and equivalent embodiments are possible therefrom. Accordingly, the scope of protection of the present invention should be defined by the following claims as well as their equivalents.

Claims

Claim 1 A transmitting device position estimation device for estimating the position of a transmitting device underwater, comprising: a distance position estimation unit that estimates the distance and position of the transmitting device based on the time until receiving a transmission signal transmitted by the transmitting device and the speed of the transmission signal; a direction estimation unit that estimates the direction of the transmitting device; and an estimated position confirmation unit that confirms the estimated position of the transmitting device based on the estimated distance and position of the transmitting device and the estimated direction of the transmitting device; wherein the estimated position confirmation unit comprises: a vertical distance calculation unit that calculates a vertical distance to the transmitting device based on the estimated distance and position of the transmitting device and the estimated direction of the transmitting device; and an estimated position correction unit that corrects the estimated position of the transmitting device when the calculated vertical distance is greater than or equal to a preset distance. Claim 2 delete Claim 3 The transmitting device position estimation device according to claim 1, wherein the estimation position verification unit further comprises: a reflection angle estimation unit that estimates the reflection angle of the transmitted signal on the seabed or sea surface when the calculated vertical distance is greater than or equal to a preset distance; and a reflection distance calculation unit that calculates the reflection distance to the reflection point of the transmitted signal; and wherein the estimation position correction unit corrects the estimated position of the transmitting device based on the estimated distance of the transmitting device, the estimated reflection angle, and the calculated reflection distance to the reflection point. Claim 4 A transmitting device position estimation device according to claim 1, further comprising a signal receiving module that receives the transmitting signal using a plurality of receiving sensors; wherein the distance position estimation unit and the direction estimation unit share at least one of the plurality of receiving sensors to estimate the distance and position and direction of the transmitting device. Claim 5 A transmitting device position estimation device according to claim 1, further comprising a signal receiving module that receives the transmitting signal using a plurality of receiving sensors; wherein the distance position estimation unit and the direction estimation unit estimate the distance and position and direction of the transmitting device using different receiving sensors among the plurality of receiving sensors. Claim 6 A method for estimating the position of a transmitting device underwater, comprising: a step of estimating the distance and position of the transmitting device based on the time until receiving a transmission signal transmitted by the transmitting device and the speed of the transmission signal; a step of estimating the direction of the transmitting device; and a step of confirming the estimated position of the transmitting device based on the estimated distance and position of the transmitting device and the estimated direction of the transmitting device; wherein the step of confirming the estimated position of the transmitting device comprises: a step of calculating a vertical distance to the transmitting device based on the estimated distance and position of the transmitting device and the estimated direction of the transmitting device; and a step of correcting the estimated position of the transmitting device if the calculated vertical distance is greater than or equal to a preset distance. Claim 7 delete Claim 8 In claim 6, the step of confirming the estimated position of the transmitting device further comprises: a step of estimating the reflection angle of the transmitted signal on the seabed or sea surface when the calculated vertical distance is greater than or equal to a preset distance; and a step of calculating the reflection distance to the reflection point of the transmitted signal; and the step of correcting the estimated position is characterized by correcting the estimated position of the transmitting device based on the estimated distance of the transmitting device, the estimated reflection angle, and the calculated reflection distance to the reflection point. Claim 9 A method for estimating the location of a transmitting device according to claim 6, further comprising the step of receiving the transmission signal using a plurality of receiving sensors included in a signal receiving module; wherein the step of estimating the distance and location of the transmitting device and the step of estimating the direction of the transmitting device are characterized by estimating the distance and location and the direction of the transmitting device by sharing at least one of the plurality of receiving sensors. Claim 10 A method for estimating the location of a transmitting device according to claim 6, further comprising the step of receiving the transmission signal using a plurality of receiving sensors included in a signal receiving module; wherein the step of estimating the distance and location of the transmitting device and the step of estimating the direction of the transmitting device are characterized by estimating the distance and location and the direction of the transmitting device using different receiving sensors among the plurality of receiving sensors.

Images