Acoustic positioning processing method, acoustic positioning processing program, and acoustic positioning processing system for underwater vehicles

Abstract

To provide an acoustic positioning processing method, an acoustic positioning processing program and an acoustic positioning processing system for underwater sailing body through which how reliable an acoustic positioning result can be grasped.SOLUTION: There is provided an acoustic positioning processing method that processes a positioning result of a position of an underwater sailing body by an acoustic positioning device, and the method comprises: a positioning data acquisition step S1 for acquiring data obtained by measuring a three-dimensional position of the underwater sailing body 2 underwater by the use of a sound wave; a depth data acquisition step S2 for acquiring depth data on the underwater sailing body 2; a precision evaluation step S3 for comparing a depth based upon a three-dimensional position with the depth data at the same time to evaluation precision of the positioning of the three-dimensional position; and an evaluation result providing step S5 for providing an evaluation result of the precision of the positioning.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an acoustic positioning method, an acoustic positioning program, and an acoustic positioning system for an underwater vehicle that processes the results of positioning the underwater vehicle using an acoustic positioning device. [Background technology]

[0002] When an underwater vehicle is deployed in a survey area of the ocean, lakes, or marshes to conduct a water bottom survey, acoustic positioning is used to determine the underwater position of the underwater vehicle. For example, Patent Document 1 discloses an autonomous unmanned underwater vehicle equipped with an inertial navigation system capable of detecting its own position on a virtual fixed coordinate system using inertial navigation, an acoustic positioning system capable of detecting the relative distance and direction from its own position of a transponder installed in an underwater station using acoustic positioning, and an autonomous navigation control device that calculates the position of the transponder on the fixed coordinate system by combining the relative distance and direction of the transponder detected by the acoustic positioning system with the self-position on the fixed coordinate system determined by the inertial navigation system. Patent document 2 also discloses an underwater vehicle equipped with a multi-beam echo sounder and a positioning calculation device having a depth database in which depth data indicating the depth of each position on the seabed surface is pre-stored, in which the multi-beam echo sounder measures the depth of the seabed surface from the underwater vehicle at a plurality of specified positions dispersed in a vertical direction perpendicular to the direction of travel of the underwater vehicle, and the positioning calculation device generates measured seabed topography data corresponding to the seabed topography from the depth measured by the multi-beam echo sounder, and determines the position of the underwater vehicle by matching the measured seabed topography data with the depth data stored in the depth database. Patent Document 3 also discloses an underwater moving body positioning device that includes an observation vessel and an acoustic transmitter / receiver mounted on the observation vessel, a first surface tow body and a second surface tow body towed by the observation vessel, a deep-sea tow vehicle towed by the observation vessel, an acoustic transmitter / receiver mounted on the first surface tow body and connected to the acoustic transmitter / receiver on the observation vessel by a communication cable and positioned using a radio positioning system, two acoustic receivers mounted on the second surface tow body and connected to the acoustic transmitter / receiver on the observation vessel by communication cables and positioned using a radio positioning system, an acoustic pulse transmitter mounted on the deep-sea tow vehicle, and a positioning device that is mounted on the observation vessel and calculates the position of the deep-sea tow vehicle based on position data of the acoustic transmitter / receiver and each acoustic receiver themselves and distance data from the acoustic transmitter / receiver and acoustic receiver to the acoustic pulse transmitter. Patent document 4 also discloses an underwater acoustic positioning method for measuring the position of a sound source underwater, in which the horizontal distance between an acoustic device having a depth meter and a receiver is determined from the depth of the sound source device and the slant range between the sound source device and the receiver, and the horizontal direction of the sound source device is determined from the phase difference when each of multiple receiver elements located at different positions within the receiver receives the sound signal emitted from the sound source device, thereby measuring the three-dimensional position of the sound source device. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2007-210402 [Patent Document 2] Japanese Patent Application Laid-Open No. 2007-292729 [Patent Document 3] Japanese Patent Application Laid-Open No. 2002-162459 [Patent Document 4] Japanese Patent Application Publication No. 60-243580 Summary of the Invention [Problem to be solved by the invention]

[0004] Among acoustic positioning methods, SBL (Short Base Line) or SSBL (Super Short Base Line) acoustic positioning devices that measure the direction and distance of the measurement target are becoming more common, but it is not possible to determine how reliable the positioning is from the coordinates obtained by the positioning alone. The autonomous underwater vehicle in Patent Document 1 uses acoustic positioning to detect the relative distance and direction from its own position to a transponder installed in an underwater station, but the reliability of the detection results has not been evaluated. Furthermore, the underwater vehicle in Patent Document 2 attempts to identify the position of the underwater vehicle using a water depth database, a multi-beam echo sounder, etc., and does not evaluate the reliability of the results of acoustic positioning. Furthermore, the underwater moving body positioning device of Patent Document 3 calculates the position of the deep-sea tow vehicle based on distance data from the acoustic transmitter / receiver mounted on the first surface tow vehicle and the acoustic receiver mounted on the second surface tow vehicle to the acoustic pulse oscillator mounted on the deep-sea tow vehicle, but does not evaluate whether the calculation results are reliable. Furthermore, the underwater acoustic positioning method of Patent Document 4 measures the three-dimensional position of a sound source device based on the depth and the slant range between the sound source device and the receiver, but does not evaluate whether the measurement results are reliable. Therefore, an object of the present invention is to provide an acoustic positioning processing method, an acoustic positioning processing program, and an acoustic positioning processing system for an underwater vehicle that can grasp the degree of reliability of the acoustic positioning results. [Means for solving the problem]

[0005] The acoustic positioning processing method for an underwater vehicle according to claim 1 is an acoustic positioning processing method for processing the results of positioning the position of the underwater vehicle by an acoustic positioning device, and includes a positioning data acquisition step for acquiring data obtained by positioning the three-dimensional position of the underwater vehicle using sound waves underwater, a depth data acquisition step for acquiring depth data of the underwater vehicle, an accuracy evaluation step for comparing the depth based on the three-dimensional position at the same time with the depth data and evaluating the accuracy of the positioning of the three-dimensional position, and an evaluation result provision step for providing the evaluation result of the positioning accuracy. Before the evaluation result providing step, a determination step is included in which it is determined whether or not the positioning data of the three-dimensional position can be adopted based on the evaluation result of the positioning accuracy evaluated in the accuracy evaluation step and a predetermined allowable error. If it is determined that the positioning data cannot be adopted, a correction result of the three-dimensional position is obtained using the depth data, and then the correction result is compared with internal information including track information of the underwater vehicle to reevaluate the accuracy of the correction result. The reevaluation result is provided together with the correction result. It is characterized by: According to the present invention described in claim 1, operators and the like can compare the depth based on the three-dimensional position at the same time with the depth data, and know how accurate the positioning coordinates of the underwater vehicle are, thereby enabling enhanced monitoring of the underwater vehicle. Furthermore, it is possible to provide a judgment result on whether or not to adopt the three-dimensional position measurement data based on a predetermined tolerance, and for example, it is possible to provide only position measurement data with a predetermined level of accuracy or higher to the operator, etc. Furthermore, since some erroneous detected coordinates that were previously discarded can now be used, it is possible to make full use of positioning opportunities.

[0006] Claim 2 The present invention is characterized in that the positioning method of the acoustic positioning device is a positioning method that measures the distance from the acoustic positioning device to the underwater vehicle and the orientation of the underwater vehicle relative to the acoustic positioning device. Claim 2 According to the present invention described above, the three-dimensional position of an underwater vehicle can be measured based on distance and direction, and the accuracy of the measurement can be evaluated and the measured position can be corrected.

[0007] Claim 3 The present invention is characterized in that the positioning method is either an SBL (Short Base Line) method or an SSBL (Super Short Base Line) method. Claim 3 According to the present invention described above, the three-dimensional position of an underwater vehicle can be measured, the accuracy of the measurement can be evaluated, and the measured position can be corrected.

[0008] Claim 4 The present invention is characterized in that the accuracy of the three-dimensional position measurement in the accuracy evaluation step is evaluated using distance and direction. Claim 4 According to the present invention described above, it is possible to accurately evaluate the accuracy of positioning based on distance and direction.

[0009] Claim 5 In the acoustic positioning processing program for an underwater vehicle according to the description, the acoustic positioning processing program processes the results of positioning the position of the underwater vehicle, and the acoustic positioning processing method for an underwater vehicle includes a positioning data acquisition step, a depth data acquisition step, and an accuracy evaluation step. , review Valuation result provision step , and the correction evaluation step The present invention is characterized in that the following is executed. Claim 5 According to the present invention described above, the acoustic positioning processing method for an underwater vehicle can be executed more accurately and quickly, and it is possible to know how accurate the positioning coordinates of the underwater vehicle are. In addition, some of the erroneously detected coordinates that were previously discarded can now be used, making it possible to make full use of positioning opportunities.

[0010] Claim 6 The present invention described is a computer Judgment The method is characterized in that a cutting step is executed. Claim 6 According to the present invention described above, it is possible to provide a judgment result on whether or not to adopt three-dimensional position measurement data based on a predetermined allowable error, and for example, it is possible to provide only position measurement data with a predetermined or higher accuracy to an operator, etc.

[0011] Claim 7 The acoustic positioning processing system for an underwater vehicle according to the description is an acoustic positioning processing system that processes the results of positioning the position of the underwater vehicle, and includes a positioning data acquisition means that acquires data obtained by positioning the three-dimensional position of the underwater vehicle equipped with at least a depth meter using an acoustic positioning device, a depth data acquisition means that acquires depth data from the depth meter of the underwater vehicle, an accuracy evaluation means that compares the depth based on the three-dimensional position at the same time with the depth data to evaluate the accuracy of the positioning of the three-dimensional position, and an evaluation result providing means that provides an evaluation result of the positioning accuracy. The system further comprises a determination means for determining whether or not to adopt the three-dimensional position measurement data based on the evaluation result of the positioning accuracy evaluated by the accuracy evaluation means and a predetermined allowable error, and a correction evaluation means for obtaining a correction result of the three-dimensional position using the depth data when it is determined that the positioning data cannot be adopted, and then comparing the correction result with internal information including track information of the underwater vehicle to reevaluate the correction result, and providing the reevaluation result together with the correction result. It is characterized by: Claim 7 According to the present invention described above, operators can compare the depth based on the three-dimensional position at the same time with the depth data, and know how accurate the positioning coordinates of the underwater vehicle are, thereby improving monitoring of the underwater vehicle. Furthermore, it is possible to provide a judgment result on whether or not to adopt the three-dimensional position measurement data based on a predetermined tolerance, and for example, it is possible to provide only position measurement data with a predetermined level of accuracy or higher to the operator, etc. Furthermore, since some erroneous detected coordinates that were previously discarded can now be used, it is possible to make full use of positioning opportunities.

[0012] Claim 8 The present invention is characterized in that the positioning method of the acoustic positioning device is a positioning method that measures the distance from the acoustic positioning device to the underwater vehicle and the orientation of the underwater vehicle relative to the acoustic positioning device. Claim 8 According to the present invention described above, the three-dimensional position of an underwater vehicle can be measured based on distance and direction, and the accuracy of the measurement can be evaluated and the measured position can be corrected.

[0013] Claim 9 The present invention is characterized in that the positioning method is either an SBL (Short Base Line) method or an SSBL (Super Short Base Line) method. Claim 9 According to the present invention described above, the three-dimensional position of an underwater vehicle can be measured, the accuracy of the measurement can be evaluated, and the measured position can be corrected. [Effects of the Invention]

[0014] According to the acoustic positioning processing method for underwater vehicles of the present invention, operators and others can compare the depth based on the three-dimensional position at the same time with the depth data, and know how accurate the positioning coordinates of the underwater vehicle are, thereby improving monitoring of the underwater vehicle.

[0015] Furthermore, if there is a judgment step before the evaluation result providing step that judges whether or not to adopt the three-dimensional position positioning data based on the evaluation result of the positioning accuracy evaluated in the accuracy evaluation step and a predetermined allowable error, the judgment result of whether or not to adopt the three-dimensional position positioning data can be provided based on the predetermined allowable error, and for example, only positioning data with an accuracy above a predetermined level can be provided to an operator, etc.

[0016] In addition, if it is determined that the positioning data cannot be used, the system further includes a correction evaluation step in which a correction result for the three-dimensional position is obtained using the depth data, and then the correction result is compared with internal information including the track information of the underwater vehicle to reevaluate the accuracy of the correction result.If the reevaluation result is provided along with the correction result, some of the erroneous detected coordinates that were previously discarded can be used, making it possible to make full use of positioning opportunities.

[0017] In addition, if the positioning method of the acoustic positioning device is a method that measures the distance from the acoustic positioning device to the underwater vehicle and the orientation of the underwater vehicle relative to the acoustic positioning device, the three-dimensional position of the underwater vehicle can be determined based on the distance and orientation, and the accuracy can be evaluated and the positioning value can be corrected.

[0018] In addition, if the positioning method is either the SBL (Short Base Line) method or the SSBL (Super Short Base Line) method, the three-dimensional position of the underwater vehicle can be measured, its accuracy can be evaluated, and the measured position value can be corrected.

[0019] Furthermore, when evaluating the accuracy of the three-dimensional position measurement in the accuracy evaluation step, if the evaluation is performed using distance and direction, the evaluation of the accuracy of the position measurement can be performed accurately based on the distance and direction.

[0020] Furthermore, according to the acoustic positioning processing program for an underwater vehicle of the present invention, the acoustic positioning processing method for an underwater vehicle can be executed more accurately and quickly, and it is possible to know how accurate the positioning coordinates of the underwater vehicle are.

[0021] Furthermore, when the computer is made to execute the judgment step, it is possible to provide a judgment result on whether or not to adopt the three-dimensional position measurement data based on a predetermined allowable error, and for example, it is possible to provide only position measurement data having a predetermined level of accuracy or higher to an operator, etc.

[0022] Furthermore, when the computer is caused to execute the correction evaluation step, some of the erroneously detected coordinates that would have been discarded in the past can be used, so that positioning opportunities can be utilized without waste.

[0023] Furthermore, according to the acoustic positioning processing system for underwater vehicles of the present invention, operators and others can compare the depth based on the three-dimensional position at the same time with the depth data, and know how accurate the positioning coordinates of the underwater vehicle are, thereby enabling improved monitoring of the underwater vehicle.

[0024] Furthermore, if the system is further provided with a judgment means for judging whether or not to adopt the three-dimensional position measurement data based on the evaluation result of the positioning accuracy evaluated by the accuracy evaluation means and a predetermined allowable error, it is possible to provide a judgment result on whether or not to adopt the three-dimensional position measurement data based on the predetermined allowable error, and for example, only positioning data having an accuracy above a predetermined level can be provided to an operator, etc.

[0025] In addition, if it is determined that the positioning data cannot be used, the system is further provided with a correction evaluation means that uses depth data to obtain a correction result for the three-dimensional position, and then compares the correction result with internal information including the track information of the underwater vehicle to reevaluate the correction result.If the reevaluation result is provided along with the correction result, some of the erroneous detected coordinates that were previously discarded can be used, making it possible to make full use of positioning opportunities.

[0026] Furthermore, if the positioning method of the acoustic positioning device is a method that measures the distance from the acoustic positioning device to the underwater vehicle and the orientation of the underwater vehicle relative to the acoustic positioning device, the three-dimensional position of the underwater vehicle can be determined based on the distance and orientation, and the accuracy can be evaluated and the positioning value can be corrected.

[0027] In addition, if the positioning method is either the SBL (Short Base Line) method or the SSBL (Super Short Base Line) method, the three-dimensional position of the underwater vehicle can be measured, its accuracy can be evaluated, and the measured position value can be corrected. [Brief explanation of the drawings]

[0028] [Figure 1] 1 is a flowchart of an acoustic positioning processing method for an underwater vehicle according to an embodiment of the present invention; [Figure 2] Functional block diagram showing the acoustic positioning processing system of the underwater vehicle in terms of functional implementation means [Figure 3] Schematic diagram of the SBL and SSBL positioning methods [Figure 4] Schematic diagram of positioning distance correction using depth meter information DETAILED DESCRIPTION OF THE INVENTION

[0029] An acoustic positioning processing method, an acoustic positioning processing program, and an acoustic positioning processing system for an underwater vehicle according to an embodiment of the present invention will be described. FIG. 1 is a flow diagram of an acoustic positioning processing method for an underwater vehicle, and FIG. 2 is a functional block diagram showing an acoustic positioning processing system for an underwater vehicle in terms of function realization means. Figure 2 shows the state in which an underwater vehicle 2, which has been loaded onto a mother ship 1 and transported to a survey area in the ocean, lakes, etc., is launched into the survey area and explores the bottom of the water to explore mineral resources, energy resources, etc. A mother ship 1 uses acoustic signals to control an underwater vehicle 2 that explores the bottom of water where radio waves cannot reach. The mother ship 1 is equipped with an acoustic positioning processing system, which includes an acoustic positioning device 10, an information acquisition device 20, and a computer 30, and executes an acoustic positioning processing method. The computer 30 includes a positioning data acquisition means 31, a depth data acquisition means 32, an accuracy evaluation means 33, a determination means 34, a correction evaluation means 35, and an evaluation result provision means 36, and has an acoustic positioning processing program installed. The underwater vehicle 2 is an AUV (Autonomous Underwater Vehicle, an unmanned, untethered, autonomously navigating robot) or the like, and is equipped with a depth meter 40 and an INS (Inertial Navigation System) device 50.

[0030] As shown in FIG. 1, the acoustic positioning processing method first acquires data obtained by using acoustic waves in water to measure the three-dimensional position of the underwater vehicle 2 (S1: positioning data acquisition step). In the positioning data acquisition step S1, the underwater vehicle 2 located underwater is positioned from the mother ship 1 located on the water surface using an acoustic positioning device 10, and the three-dimensional position data of the underwater vehicle 2 obtained in this way is input into the computer 30 by the positioning data acquisition means 31. The positioning method of the acoustic positioning device 10 is a method of measuring the distance from the acoustic positioning device 10 to the underwater vehicle 2 and the direction of the underwater vehicle 2 relative to the acoustic positioning device 10. This allows the three-dimensional position of the underwater vehicle 2 to be determined based on the distance and direction, and the accuracy of this determination can be evaluated and the positioning value can be corrected. Furthermore, the positioning method of the acoustic positioning device 10 is preferably the SBL (Short Base Line) method or the SSBL (Super Short Base Line) method, which are simpler than the LBL (Long Base Line) method, which requires the installation of measuring equipment underwater. Here, FIG. 3 is a schematic diagram of the SBL and SSBL method. Both the SBL and SSBL methods transmit sound back and forth between a mother ship 1 (parent unit) and an underwater vehicle 2 (child unit) to determine the relative position from the parent unit, and determine the three-dimensional coordinates of the child unit by detecting the direction of arrival of the sound waves and the distance. The difference between the SBL and SSBL methods is determined by the size of the device, but since the positioning principle is the same, the SSBL method is sometimes referred to as the SBL method. By using either the SBL or SSBL method as the positioning method, the three-dimensional position of the underwater vehicle 2 can be determined, its accuracy can be evaluated, and the positioning value can be corrected.

[0031] After the positioning data acquisition step S1, depth data of the underwater vehicle 2 is acquired (S2: depth data acquisition step). In the depth data acquisition step S2, the computer 30 acquires depth data measured by the depth meter 40 provided on the underwater vehicle 2. The depth data is transmitted from the underwater vehicle 2 to the mother ship 1 using an acoustic signal, and the depth data is received by information acquisition means on the mother ship 1 and imported into the computer 30 by depth data acquisition means 32.

[0032] After the depth data acquisition step S2, the depth based on the three-dimensional position at the same time is compared with the depth data, and the accuracy of the three-dimensional position positioning is evaluated (S3: accuracy evaluation step). In the depth data acquisition step S2, depth data is acquired from the underwater vehicle 2 at a predetermined interval or based on an instruction signal. This acquisition is discrete, not continuous. The acquired depth data is basically a value for each time period, but by providing storage means in the underwater vehicle 2, continuous depth data can also be acquired. However, to compare the depth based on the three-dimensional position with the depth data in the accuracy evaluation step S3, the depth and depth data must be time-aligned, and the discrete data must be complemented and compared. This enables comparison at any given time, allowing for a detailed and accurate evaluation of the accuracy of the three-dimensional position positioning, and making it possible to provide only positioning data with a predetermined accuracy or higher to operators, etc. As a prerequisite for this, it is important to align the time axes of the acoustic positioning device 10 and the underwater vehicle 2 using a known timing means, and if a memory means is used in combination, it is necessary to record time information along with the recording of positioning data and depth data. The SBL or SSBL acoustic positioning method determines three-dimensional coordinates by detecting the direction and distance of the target, and positioning will not work if there is an error in either or both the direction and distance due to the influence of surrounding noise or multipath. Therefore, when evaluating the accuracy of the three-dimensional positioning in accuracy evaluation step S3, the evaluation is performed using distance and direction. This allows for accurate evaluation of the positioning accuracy based on distance and direction. In the accuracy evaluation step S3, the accuracy evaluation means 33 uses the depth data as an index and evaluates the accuracy of the positioning by the acoustic positioning device 10 based on the difference between the index and the depth obtained from the three-dimensional position data of the underwater vehicle 2 positioned by the acoustic positioning device 10. The accuracy evaluation means 33 evaluates the three-dimensional position (positioning coordinates) acquired by the acoustic positioning device 10 as a false detection or not meeting the standard accuracy (low accuracy) if the difference between the index depth data and the depth based on the three-dimensional position is outside the standard value, and evaluates it as a correct detection and meeting the standard accuracy (high accuracy) if the difference between the two is within the standard value.

[0033] Next, it is determined whether or not to adopt the three-dimensional position measurement data based on the evaluation result of the positioning accuracy evaluated in the accuracy evaluation step S3 and a predetermined allowable error (S4: determination step). In decision step S4, if the decision means 34 determines that the evaluation by the accuracy evaluation means 33 is highly accurate, or that the evaluation by the accuracy evaluation means 33 is low accuracy but within the allowable error, it decides that the positioning data of the three-dimensional position can be used (YES), and if it determines that the evaluation by the accuracy evaluation means 33 is a false detection or low accuracy that is outside the allowable error, it decides that the positioning data of the three-dimensional position cannot be used (NO). By having this judgment step S4, it is possible to provide a judgment result on whether or not to adopt the three-dimensional position positioning data based on a predetermined allowable error, and for example, it is possible to provide only positioning data with a predetermined or higher accuracy to an operator, etc.

[0034] If it is determined in the determination step S4 that the positioning data can be adopted, the evaluation result of the positioning accuracy is provided (S5: evaluation result providing step). In evaluation result provision step S5, the evaluation result provision means 36 provides the operator, etc. with the positioning coordinates of the underwater vehicle 2 acquired by the acoustic positioning device 10 and the evaluation result of the positioning accuracy. The evaluation result is provided by displaying it on a screen, printing it, etc. By providing the positioning coordinates of the underwater vehicle 2 obtained by the acoustic positioning device 10 along with an assessment of their validity, operators and others can compare the depth based on the three-dimensional position at the same time with the depth data, and know how accurate the positioning coordinates of the underwater vehicle 2 are, thereby improving monitoring of the underwater vehicle 2.

[0035] On the other hand, if it is determined in decision step S4 that the positioning data cannot be used, the depth data is used to obtain a correction result for the three-dimensional position, and then the correction result is compared with internal information including the track information of the underwater vehicle 2 to reevaluate the accuracy of the correction result (S6: correction evaluation step). In the correction evaluation step S6, the correction evaluation means 35 uses the value of the depth meter 40 as a correction value 60 to correct the positioning coordinates of the underwater vehicle 2 acquired by the acoustic positioning device 10, thereby obtaining a correction result. Here, Figure 4 is a schematic diagram of positioning distance correction using depth meter information. Figure 4(a) shows an incorrect detected position of the underwater vehicle 2 based on positioning by the acoustic positioning device 10. Due to an error in distance detection, the depth (positioning depth) determined from the positioning results by the acoustic positioning device 10 is greater than the actual depth (depth meter) of the underwater vehicle 2. 4(b) shows the detected position of the underwater vehicle 2 after correction. Even if the determination means 34 determines that the positioning data is a false detection or has low accuracy, the distance detection error can be corrected from the value of the depth meter 40. Therefore, by correcting the positioning data that includes the distance detection error based on the value of the depth meter 40, the correct coordinates of the underwater vehicle 2 can be obtained. The accuracy of the corrected three-dimensional position (coordinates) of the underwater vehicle 2 is then reevaluated by comparing it with other reliable positioning coordinates and with internal information such as track information of the underwater vehicle 2. Data on internal information such as track information of the underwater vehicle 2 is collected by an INS device 50 provided in the underwater vehicle 2, transmitted from the underwater vehicle 2 to the mother ship 1 using acoustic signals, received by information acquisition means, and then input into the computer 30.

[0036] After the correction evaluation step S6, the process proceeds to the evaluation result providing step S5, in which the evaluation result providing means 36 provides the correction results and re-evaluation results to the operator or the like. In this way, even for positioning data that has been determined to be a false detection or low accuracy, some false detection coordinates (positioning data with inaccurate distance but accurate azimuth detection) that would previously have been discarded can be used by correcting distance detection errors from the values of the depth meter 40 and re-evaluating them by comparing and collating with other reliable data. This makes it possible to make full use of the few positioning opportunities from the mother ship 1, particularly in situations where opportunities to obtain a response from the underwater vehicle 2 are limited due to adverse conditions, such as when the underwater vehicle 2 is located at great depths or when the horizontal distance between the mother ship 1 and the underwater vehicle 2 is long. After the correction evaluation step S6, the process may proceed again to the determination step S4, where it is determined whether or not to adopt the corrected positioning data based on the reevaluation result of the positioning accuracy evaluated in the correction evaluation step S6 and a predetermined allowable error. By making a second adoption determination, only highly reliable positioning data that meets a predetermined standard can be provided to the operator, etc. In this case, positioning data that does not meet the predetermined standard even in the second determination step S4 is discarded as an error.

[0037] As described above, the acoustic positioning processing method and acoustic positioning processing system for an underwater vehicle of the present invention allow operators and the like to grasp the degree of reliability of the acoustic positioning results. In addition, by using an acoustic positioning processing program and having the computer 30 execute the positioning data acquisition step S1, depth data acquisition step S2, accuracy evaluation step S3, and evaluation result provision step S5 in the acoustic positioning processing method for an underwater vehicle, the acoustic positioning processing method for an underwater vehicle can be executed more accurately and quickly, and it is possible to know how accurate the positioning coordinates of the underwater vehicle 2 are. Furthermore, by having the computer 30 execute the judgment step S4, it is possible to provide a judgment result on whether or not to adopt the three-dimensional position measurement data based on a predetermined allowable error, and for example, it is possible to provide only position measurement data with a predetermined level of accuracy or higher to the operator, etc. Furthermore, by having the computer 30 execute the correction evaluation step S6, some of the erroneously detected coordinates that would previously have been discarded can be used, making it possible to make full use of the few positioning opportunities available from the mother ship 1. [Industrial Applicability]

[0038] By applying the present invention, the position of an underwater vehicle performing work in the ocean, lakes, marshes, etc. can be determined with high accuracy, thereby contributing to improving the safety and efficiency of work. [Explanation of symbols]

[0039] 2 Underwater vehicle 10 Acoustic positioning device 30 Computer 31 Positioning data acquisition means 32 Depth data acquisition method 33 Accuracy Assessment Methods 34 Judgment means 35 Corrective Assessment Instrument 36 Means of providing evaluation results 40 Depth gauge 50 INS equipment 60 Correction Value S1 Positioning data acquisition step S2 Depth data acquisition step S3 Accuracy evaluation step S4 Decision Step S5: Evaluation result provision step S6 Correction evaluation step

Claims

1. An acoustic positioning processing method for processing results of positioning the position of an underwater vehicle using an acoustic positioning device, comprising: a positioning data acquisition step for acquiring data obtained by positioning the three-dimensional position of the underwater vehicle using sound waves underwater; a depth data acquisition step for acquiring depth data of the underwater vehicle; an accuracy evaluation step for comparing a depth based on the three-dimensional position at the same time with the depth data and evaluating the accuracy of the positioning of the three-dimensional position; and an evaluation result provision step for providing an evaluation result of the accuracy of the positioning, a determination step, prior to the evaluation result providing step, of determining whether or not to adopt the positioning data of the three-dimensional position based on the evaluation result of the positioning accuracy evaluated in the accuracy evaluation step and a predetermined allowable error, An acoustic positioning processing method for an underwater vehicle, characterized in that, when it is determined that the positioning data cannot be used, a correction result of the three-dimensional position is obtained using the depth data, and then the correction result is compared with internal information including track information of the underwater vehicle to reevaluate the accuracy of the correction result, and the reevaluation result is provided together with the correction result.

2. 2. The acoustic positioning processing method for an underwater vehicle according to claim 1, characterized in that the positioning method of the acoustic positioning device is a positioning method that measures the distance from the acoustic positioning device to the underwater vehicle and the orientation of the underwater vehicle relative to the acoustic positioning device.

3. 3. The acoustic positioning processing method for an underwater vehicle according to claim 2, wherein the positioning method is either an SBL (Short Base Line) method or an SSBL (Super Short Base Line) method.

4. 4. The acoustic positioning processing method for an underwater vehicle according to claim 2, wherein the accuracy of the positioning of the three-dimensional position in the accuracy evaluation step is evaluated using the distance and the direction.

5. An acoustic positioning processing program for processing results of positioning the position of an underwater vehicle, An acoustic positioning processing program for an underwater vehicle, characterized in that it causes a computer to execute the positioning data acquisition step, the depth data acquisition step, the accuracy evaluation step, the evaluation result provision step, and the correction evaluation step in the acoustic positioning processing method for an underwater vehicle described in claim 1.

6. 6. The acoustic positioning processing program for an underwater vehicle according to claim 5, wherein the program causes the computer to execute the determining step.

7. An acoustic positioning processing system that processes results of positioning the position of an underwater vehicle, a positioning data acquisition means for acquiring data on the three-dimensional position of the underwater vehicle equipped with at least a depth meter, the data being measured by an acoustic positioning device; a depth data acquisition means for acquiring depth data from the depth meter of the underwater vehicle; an accuracy evaluation means for comparing a depth based on the three-dimensional position at the same time with the depth data and evaluating the accuracy of positioning of the three-dimensional position; evaluation result providing means for providing an evaluation result of the positioning accuracy; a determination means for determining whether or not to adopt the three-dimensional position measurement data based on the evaluation result of the accuracy of the positioning evaluated by the accuracy evaluation means and a predetermined allowable error; a correction evaluation means for, when it is determined that the positioning data cannot be used, obtaining a correction result of the three-dimensional position using the depth data, and then comparing the correction result with internal information including track information of the underwater vehicle and reevaluating the correction result; Equipped with An acoustic positioning processing system for an underwater vehicle, characterized in that it provides a reevaluation result together with the correction result.

8. The acoustic positioning processing system for an underwater vehicle described in claim 7, characterized in that the positioning method of the acoustic positioning device is a positioning method that measures the distance from the acoustic positioning device to the underwater vehicle and the orientation of the underwater vehicle relative to the acoustic positioning device.

9. 9. The acoustic positioning processing system for an underwater vehicle according to claim 8, wherein the positioning method is either an SBL (Short Base Line) method or an SSBL (Super Short Base Line) method.

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