JPH09145821A - Underwater object position measuring device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an underwater object position measuring device that can be prepared and withdrawn in a short time and reduced in equipment cost. SOLUTION: An underwater object position measuring device making an underwater robot 2, existing in the water, recognize a present position has buoys 1 for obtaining position data on the basis of GPS signals from GPS satellites 4 constituting a global positioning system so as to transmit this position data as ultrasonic signals into the water and to transmit time pulses as ultrasonic signals into the water at the specified time, a computing element provided at the robot 2 so as to obtain arrival time difference between the position data and time pulses of the buoys 1 by receiving the ultrasonic signals from the buoys 1 and to compute present position data on the basis of the position data and arrival time difference, and the like.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an underwater object position measuring device for measuring the position of an underwater object existing in water.

[0002]

2. Description of the Related Art When conducting work such as diving survey or civil engineering work underwater in the sea or lake, depending on the work contents, it is better to work autonomously underwater rather than remote control from the mother ship located on the surface of the water. Sometimes desirable. In this case, it is necessary for the underwater worker or the working device to recognize the current position in order to proceed with the work.
Method (Long Base Line System) and SBL method (Short Bas
e Line System), SSBL method (Super Short Base Line)
The current position of the worker or the working device is measured by the position determination method by System).

That is, the position determining method according to each of the above-mentioned methods is configured to have a transducer for transmitting an inquiry signal and receiving a response signal, and a transponder for transmitting a response signal when the inquiry signal is received. The transponder is installed on the bottom of the water, the installation position is measured, and then the response signal transmitted from the transponder is received by the transducer so that the current position is obtained by the installation position of the known transponder and the propagation time of the signal. Has become.

[0004]

However, in the above-mentioned conventional position determining method, when the transponder is installed in water, it is necessary to fix the transponder so that it does not move from the installation place, and the installation position of the transponder is measured. However, there is a problem in that it takes a long time to prepare until the current position can be measured by the transducer due to the difficulty of these operations. In addition, since it is necessary to pull up the transponder from the water and collect it after the completion of the diving survey, there is a problem that the withdrawal time also takes a long time. Furthermore, since it is necessary to equip both the transponder and the transducer with an ultrasonic transmitter and an ultrasonic receiver for transmitting and receiving the inquiry signal and the response signal, there is a problem that the cost of the equipment is increased. is there.

Therefore, it is an object of the present invention to provide an underwater object position measuring device which can be prepared and withdrawn in a short time and which can reduce the cost of equipment.

[0006]

In order to solve the above-mentioned problems, the invention of claim 1 is an apparatus for measuring the position of an underwater object, which is transmitted from a plurality of satellites constituting a global positioning system. And detecting means for receiving GPS signals for detecting positions based on these signals, and transmitting means for transmitting data signals representing these positions as ultrasonic signals into the water at a predetermined time. Then, the four holding bodies located on the surface of the water and the underwater object are provided, receive the ultrasonic signals from the four transmitting means, obtain the difference in arrival time of each of these signals from the transmitting means, and It is characterized by having a position calculating means for calculating the current position of the underwater object based on the position data and the arrival time difference.

As a result, since the underwater object is made to recognize the current position based on the ultrasonic signal transmitted from the holder, the preparatory work is only the work of floating the holder on the water surface, and the withdrawal work is performed. Only the work of collecting the holder floating on the water surface is required. Therefore, all the work at the time of preparation and withdrawal can be easily performed on board, and it is possible to prepare and withdraw in a short time. In addition, since it is possible to obtain and confirm the current position data simply by equipping an underwater object with an ultrasonic receiver that receives ultrasonic signals, the cost of equipment required for ultrasonic transmitters, etc. can be reduced. Is possible.

According to a second aspect of the present invention, in an underwater object position measuring apparatus for measuring the position of an underwater object, GPS signals transmitted from a plurality of satellites constituting a global positioning system are received and the position is determined based on those signals. Three holders, each of which holds a detecting means for detecting and a transmitting means for transmitting a data signal or the like representing these positions as an ultrasonic signal into water at a predetermined time, at a distance from each other and on the water surface, The underwater object is provided in the underwater object, receives ultrasonic signals from the three transmitting means, obtains arrival times of these signals from the respective transmitting means, and calculates the present time of the underwater object based on the position data and the arrival time. It is characterized by having a position calculating means for calculating a position.

As a result, as in the case of claim 1, all the work at the time of preparation and withdrawal can be easily performed on board, so that it is possible to prepare and withdraw in a short time. . Furthermore, since it is composed of three holders, it is possible to prepare and withdraw in a shorter time than in the case of claim 1, which is composed of four holders, and to reduce the cost. It is possible to do.

According to a third aspect of the present invention, in an underwater object position measuring apparatus for measuring the position of an underwater object, GPS signals transmitted from a plurality of satellites forming a global positioning system are received and the position is determined based on those signals. The holding means for detecting and a transmitting means for transmitting data signals representing these positions as ultrasonic signals in water at a predetermined time and holding one holding body positioned on the water surface, and the underwater object are provided. Receiving the ultrasonic signal from the transmitting means,
Position calculation for obtaining the arrival time of the ultrasonic signal from the transmitting means and the direction of the holder with respect to the underwater object, and calculating the current position of the underwater object based on the position data, the arrival time and the direction of the holder. And means.

As a result, as in the case of claim 1, all the work at the time of preparation and withdrawal can be easily performed on board, so that preparation and withdrawal can be done in a short time. . Further, since it is composed of one holder, it is possible to prepare and withdraw in a shorter time than in the case of claim 1, which is composed of four holders, and to reduce the cost. It is possible to do.

According to a fourth aspect of the present invention, in an underwater position measuring device for recognizing the current position of an underwater object existing underwater, position data is obtained based on GPS signals from satellites which constitute a global positioning system, One holding body that transmits the position data as an ultrasonic signal into the water and the underwater object, the depth of the underwater object is obtained, and the holding is performed by receiving the ultrasonic signal from the holding body. The present invention is characterized by having position calculating means for obtaining the position data of the body and the holding body direction and calculating the current position data based on the depth, the position data and the holding body direction.

As a result, as in the case of claim 1, since all the work at the time of preparation and withdrawal can be easily performed on board, it is possible to prepare and withdraw in a short time. . Further, since it is composed of one holder, it is possible to prepare and withdraw in a shorter time than in the case of claim 1, which is composed of four holders, and to reduce the cost. It is possible to do.

According to a fifth aspect of the present invention, in an underwater object position measuring apparatus for measuring the position of an underwater object, GPS signals transmitted from a plurality of satellites forming a global positioning system are received, and the position is determined based on those signals. Three holders, each of which holds a detecting means for detecting and a transmitting means for transmitting a data signal or the like representing these positions as an ultrasonic signal into water at a predetermined time, at a distance from each other and on the water surface, The depth of the underwater object, which is provided in the underwater object, is determined, the ultrasonic signals from the three transmitting means are received, and the arrival time difference of each of these signals from the transmitting means is determined. It has a position calculating means for calculating the current position of the underwater object based on the position data and the arrival time difference.

As a result, as in the case of claim 1, since all the work at the time of preparation and withdrawal can be easily performed on board, it is possible to prepare and withdraw in a short time. . Furthermore, since it is composed of three holders, it is possible to prepare and withdraw in a shorter time than in the case of claim 1, which is composed of four holders, and to reduce the cost. It is possible to do.

The invention of claim 6 relates to claims 1, 2, 3,
The holder described in 4 or 5 is adapted to emit an ultrasonic signal while including unique identification data,
The position calculating means is characterized in that the holding body is specified based on the identification data. With this, it is possible to select any holding body from a large number of holding body groups and obtain the current position data,
Even if a large number of holders are arranged, it is possible to prevent erroneous detection of current position data due to interference of ultrasonic signals or the like.

The invention of claim 7 relates to claims 1, 2, 3,
The holder described in 4 or 5 is adapted to emit an ultrasonic signal at a unique frequency, and the position calculating means is adapted to identify the holder based on the frequency. It is characterized by that. As a result, the current position data can be obtained by selecting an arbitrary holding body from a large number of holding bodies, so even if a large number of holding bodies are arranged, the current position due to interference of ultrasonic signals, etc. It is possible to prevent erroneous detection of data.

The invention of claim 8 relates to claim 1, 2, 3,
The holder according to 4 or 5 is adapted to emit an ultrasonic signal containing a unique M-series code, and the position calculating means is based on the M-series code. It is characterized by being designed to identify. With this, it is possible to select any holding body from a large number of holding body groups and obtain the current position data,
Even if a large number of holders are arranged, it is possible to prevent erroneous detection of current position data due to interference of ultrasonic signals or the like.

The invention of claim 9 relates to claim 1, 2, 3,
The holding body described in 4 or 5 is characterized in that the position data is corrected so as to indicate the position of the ultrasonic transmitter that transmits the ultrasonic signal. As a result, the position data is corrected so as to indicate the position of the ultrasonic transmitter that is the source of the ultrasonic signal, so that the current position data can be obtained with high accuracy.

The invention of claim 10 is the invention of claims 1, 2, 3,
The position calculating means described in 4 or 5 is characterized by detecting the moving amount of the underwater object and correcting the current position data by the moving amount. This makes it possible to obtain the current position data with high accuracy by correcting the current position data with the amount of movement of the underwater object.

According to the invention of claim 11, in an underwater object position measuring device for measuring the position of an underwater object,
A means for receiving GPS signals transmitted from a plurality of satellites constituting the global positioning system and detecting a position based on those signals; and a transmitting means for transmitting a data signal representing the position as an ultrasonic signal into the water. And a position calculation means that is provided in the underwater object, receives an ultrasonic wave signal transmitted from the holder, and calculates the current position of the underwater object based on the signal. It is characterized by that.

As a result, since the underwater object is made to recognize the current position based on the ultrasonic signal transmitted from the holding body, the preparatory work is only the work of floating the holding body on the water surface, and the withdrawal work is performed. Only the work of collecting the holder floating on the water surface is required. Therefore, all the work at the time of preparation and withdrawal can be easily performed on board, and it is possible to prepare and withdraw in a short time. In addition, since it is possible to obtain and confirm the current position data simply by equipping an underwater object with an ultrasonic receiver that receives ultrasonic signals, the cost of equipment required for ultrasonic transmitters, etc. can be reduced. Is possible.

According to a twelfth aspect of the present invention, in an underwater object position measuring apparatus for measuring the position of an underwater object, a detecting means for detecting the position and a data signal representing these positions are ultrasonic signals at a predetermined time underwater. And four transmitting means for transmitting and transmitting the ultrasonic wave signals from the four transmitting means, which are provided on the underwater object and which hold the transmitting means for transmitting to the And a position calculation unit that calculates the current position of the underwater object based on the position data and the arrival time difference.

As a result, as in the eleventh aspect,
Since all the work at the time of preparation and withdrawal can be easily done on board, it is possible to prepare and withdraw in a short time, and reduce the equipment cost required for the ultrasonic transmitter etc. Is possible.

According to a thirteenth aspect of the present invention, in an underwater object position measuring apparatus for measuring the position of an underwater object, the detecting means for detecting the position and the data signal representing these positions are ultrasonic signals at a predetermined time underwater. And transmitting means for respectively transmitting to the
The holding body of the table and the underwater object are provided, receive ultrasonic signals from the three transmitting means, determine arrival times of these signals from each transmitting means, and calculate the position data and the arrival time. And a position calculation means for calculating the current position of the underwater object based on the above.

As a result, as in the eleventh aspect,
Since all the work at the time of preparation and withdrawal can be easily done on board, it is possible to prepare and withdraw in a short time, and reduce the equipment cost required for the ultrasonic transmitter etc. Is possible.

According to a fourteenth aspect of the present invention, in an underwater object position measuring apparatus for measuring the position of an underwater object, detecting means for detecting the position and data signals representing these positions are ultrasonic signals at a predetermined time underwater. And transmitting means for respectively transmitting to the
The holding body of the table and the underwater object are provided, the depth of the underwater object is obtained, the ultrasonic signals from the three transmitting means are received, and the arrival time difference of these signals from each transmitting means is obtained. , A position calculating means for calculating the current position of the underwater object based on the depth of the underwater object and the position data and the arrival time difference.

Accordingly, as in the case of claim 11,
Since all the work at the time of preparation and withdrawal can be easily done on board, it is possible to prepare and withdraw in a short time, and reduce the equipment cost required for the ultrasonic transmitter etc. Is possible. .

In the underwater object position measuring apparatus for measuring the position of an underwater object according to claim 15, a means for detecting the position, which is located on the surface of the water, and a data signal representing the position are transmitted as ultrasonic signals into the water. A holder for holding the means,
It has a position calculation means which is provided in the underwater object, receives an ultrasonic wave signal transmitted from the holder, and calculates a current position of the underwater object based on the signal.

As a result, as in the case of claim 11,
Since all the work at the time of preparation and withdrawal can be easily done on board, it is possible to prepare and withdraw in a short time, and reduce the equipment cost required for the ultrasonic transmitter etc. Is possible.

[0031]

BEST MODE FOR CARRYING OUT THE INVENTION

[Embodiment 1] An embodiment of the present invention will be described with reference to FIGS. The underwater object position measuring device according to the present embodiment,
As shown in FIG. 1, the global positioning system receiver 21 (hereinafter, GPS (Global Positioning syste
m) referred to as a receiver 21) and an ultrasonic transmitter 24, and is operated by power supplied from a battery or a solar cell 4
It has a buoy 1 (holding body) of a table and an ultrasonic receiver 3 mounted on an underwater robot 2 which is an underwater object. still,
Examples of the underwater object include a submarine, a submersible research ship, an underwater towed vehicle, and a diver, in addition to the underwater robot 2. Further, the underwater object position measuring device is used in various fields such as ocean research, salvage, and leisure depending on the type of underwater object.

As shown in FIG. 2, the GPS receiver 21 has a built-in high precision reference clock 21a with an error of about 100 ns. The GPS receiver 21 receives the GPS signal 1 transmitted from the GPS satellites 4 when the reference clock 21a points to a preset transmission time (for example, a time of even seconds).
0 is received, and position data composed of a digital signal is obtained based on the received signal and the like. And the GPS receiver 21
When the position data is obtained, the first bit of communication data including this position data is raised to form a time pulse.

The GPS receiver 21 is connected to the ultrasonic transmitter 24 via the modulator 22 and the amplifier 23. The modulator 22 to which the communication data is input from the GPS receiver 21 modulates the communication data by an amplitude modulation method, a frequency modulation method, or a phase modulation method. In addition, the amplifier 23
Amplifies the modulated communication data. Then, the ultrasonic transmitter 24 transmits the communication data input from the amplifier 23 into the water in the form of the ultrasonic signal 11. This allows
All the buoys 1 ... Send position data and time pulses in the form of ultrasonic signals 11 at the same time based on the reference clock 21a. The time pulse can also be transmitted from the ultrasonic transmitter 24 as a pulse signal different from communication data including position data.

As shown in FIG. 3, the ultrasonic signal 11 transmitted from the buoys 1 ... Is received by the ultrasonic receiver 3 constituting the position calculating means provided in the underwater robot 2. The underwater robot 2 includes an ultrasonic receiver 3, an amplifier 5 for amplifying the received ultrasonic signal 11, and an ultrasonic signal 1.
1, a demodulator 6 for demodulating 1, a measurement clock 12 used for measuring the reception time of a time pulse or position data, and a calculator 7
And are provided as position calculation means. And the arithmetic unit 7
Reads the time pulse and the position data from the communication data that sequentially arrive from each buoy 1, obtains the arrival time difference from the reception time of the ultrasonic signal, and based on the arrival time difference and the position data, the current position of the underwater robot 2. Is calculated.

The operation of the underwater object position measuring apparatus having the above structure will be described. Buoy 1 and underwater robot 2
After being mounted on a mother ship (not shown) and transported to the working water area, four buoys 1 ... are floated on the water surface,
The underwater robot 2 is submerged. Each buoy 1 floating on the surface of the water has a GPS receiver 21 and an ultrasonic transmitter 24.
When the reference clock 21a indicates a predetermined transmission time, the GPS receiver 21 operates the GP from the GPS satellite 4
The position data is calculated based on the S signal 10.

The position of each buoy 1 ... Is calculated by the above GPS receiver 21 as position data (X1, Y1, Z).
1) to (X4, Y4, Z4), each position data is included in the communication data together with the time pulse, and is output to the ultrasonic transmitter 24 via the modulator 22 and the amplifier 23. In the position data, "X" indicates north-south direction, "Y" indicates east-west direction, and "Z" indicates height (depth). Then, the ultrasonic transmitter 24 transmits the communication data including the position data and the time pulse into the water in the form of the ultrasonic signal 11. This ultrasonic signal 11
Is received by the ultrasonic receiver 3 of the underwater robot 2.

At this time, the current position of the underwater robot 2 is (X
0, Y0, Z0) and the linear distances from the underwater robot 2 to each buoy 1 are R1, R2, R3, R4, as shown in FIG. The time until the time pulse in the transmitted ultrasonic signal 11 reaches the ultrasonic receiver 3 of the underwater robot 2 expands and contracts according to the linear distances R1, R2, R3 and R4. Therefore,
As shown in FIG. 4 and FIG. 5, the ultrasonic receiver 3 is operated after each buoy (1-1), (1-2), (1-3), (1-4) transmits a time pulse. Since the ultrasonic signal 11 is received after the arrival times T1, T2, T3, T4 have elapsed, the arrival time difference DT12, DT23, of the time pulses is based on the reception time by the measurement clock 12.
After obtaining DT34, the current position (X0, Y0, Z0) and the arrival time T1 of the earliest time pulse are calculated by substituting them into the following calculation formulas (1) to (4). Note that C is the speed of sound in water.

R1 = [(X1-X0) ² + (Y1-Y0) ² + (Z1-Z0) ² ] ^1/2 = T1 × C (1)

R2 = [(X2-X0) ² + (Y2-Y0) ² + (Z2-Z0) ² ] ^1/2 = T2 × C = (T1 + DT12) × C (2)

R3 = [(X3-X0) ² + (Y3-Y0) ² + (Z3-Z0) ² ] ^1/2 = T3 × C = (T1 + DT12 + DT23) × C (3)

R4 = [(X4-X0) ² + (Y4-Y0) ² + (Z4-Z0) ² ] ^1/2 = T4 × C = (T1 + DT12 + DT23 + DT34) × C (4)

As a result, the underwater robot 2 is provided with the ultrasonic wave receiver 3 as shown in FIG.
0, Y0, Z0) can be detected, and the cost can be reduced by the amount of ultrasonic transmitter unnecessary. After this, when the work is finished, the underwater robot 2 is lifted up to the mother ship together with the buoy 1 floating on the water surface after the underwater robot 2 is levitated so that the buoy 1 and the underwater robot 2 are recovered to the mother ship. Become. Therefore, since all the withdrawal work after the work is completed on the ship, the withdrawal work is completed within a short time.
The position of the underwater object can be detected even if the position data is transmitted at a predetermined time without sending the time pulse from the ultrasonic signal 24. If the time data is added to the position data, the underwater robot 2 can obtain an accurate time based on the arrival time T1.

[Embodiment 2] Another embodiment of the present invention will be described with reference to FIGS. 6 and 7. The same members as those in the first embodiment are designated by the same reference numerals and the description thereof will be omitted.

The underwater object position measuring apparatus according to this embodiment is
As shown in FIG. 6, three buoys (1-1), (1-2), (1) equipped with a GPS receiver 21 and an ultrasonic transmitter 24 and operated by power supply from batteries or solar cells are installed. -3) (See FIGS. 1 and 2) and an ultrasonic receiver 3 mounted on the underwater robot 2. As shown in FIG. 7, the underwater robot 2 includes an ultrasonic receiver 3, an amplifier 5, a demodulator 6, and a calculator 7 as position calculating means, and all buoys (1
-1), (1-2), (1-3) to share the same time, GP
A reference clock 13 equivalent to the S receiver 21 is provided as position calculating means. Then, the arithmetic unit 7 obtains the reception time when the time pulse is received by using the reference clock 13, respectively, obtains the arrival times by subtracting the transmission times from the respective reception times, and determines the arrival times and the positions. The current position data is calculated based on the data and. Other configurations are the same as those in the first embodiment.

The operation of the underwater object position measuring apparatus having the above structure will be described. As shown in FIG. 6, the reference clocks 21a of the three buoys (1-1), (1-2), (1-3) and the reference clock 13 of the underwater robot 2 are set to the same time. After that, the buoys (1-1), (1-2), (1-3) are floated on the water surface, and the underwater robot 2 is submerged. Buoys floating on the water surface (1-1), (1-2), (1
-3) is G when the reference clock 13 points to a predetermined time.
The position data will be calculated based on the GPS signal 10 from the PS satellite 4. And each buoy (1-1), (1-2), (1
-3) is the position data (X1, Y1, Z1) to (X
3, Y3, Z3) respectively,
These position data are ultrasonic signals 1 along with the time pulse.
It is transmitted as 1 in the water and is received by the ultrasonic receiver 3 of the underwater robot 2.

Here, the current position of the underwater robot 2 is (X
0, Y0, Z0), the straight line distance from the underwater robot 2 to each buoy (1-1), (1-2), (1-3) is R1, R2, R
If it is 3, the reception time at which the ultrasonic receiver 3 receives the time pulse differs depending on the linear distances R1, R2, and R3. At this time, these reception times are obtained by the reference clock 13 of the underwater robot 2, and the reference clock 13 sets the same time as the buoys (1-1), (1-2), (1-3). The time is set to point. Therefore, since the computing unit 7 of the underwater robot 2 recognizes the transmission time of the received time pulse, the arrival time from the transmission of the time pulse to the reception is calculated by subtracting the transmission time from the reception time of each time pulse. It is possible to obtain T1, T2 and T3. Then, in this way, the arithmetic unit 7 reaches the arrival time T
When 1, T2 and T3 are calculated, the following calculation formula (5)-
By substituting in (7), the current position (X0, Y
0, Z0) will be calculated.

R1 = [(X1-X0) ² + (Y1-Y0) ² + (Z1-Z0) ² ] ^1/2 = T1 × C (5)

R2 = [(X2-X0) ² + (Y2-Y0) ² + (Z2-Z0) ² ] ^1/2 = T2 × C (6)

R3 = [(X3-X0) ² + (Y3-Y0) ² + (Z3-Z0) ² ] ^1/2 = T3 × C (7)

[Embodiment 3] Another embodiment of the present invention will be described with reference to FIGS. 8 and 9. The same members as those in the first embodiment are designated by the same reference numerals and the description thereof will be omitted.

The underwater object position measuring apparatus according to this embodiment is
As shown in FIG. 8, a GPS receiver 21 and an ultrasonic transmitter 24 are mounted, and one buoy (1-1) which is operated by power supply from a battery or a solar cell and an underwater robot 2 are mounted. And an ultrasonic receiver 3 '. Underwater robot 2
As shown in FIG. 9, an ultrasonic wave receiver 3'comprising three wave receivers, an amplifier 5, a demodulator 6, and a calculator 7 are provided as position calculating means. Further, the underwater robot 2 is provided with a horizontal gyro 32 and a vertical gyro 33 that detect the tilt angle of the underwater robot 2 as position calculating means, and the horizontal gyro 32, the vertical gyro 33 and the ultrasonic receiver 3 ′.
The direction of the ultrasonic transmitter 24 is detected by and.

Further, the underwater robot 2 is equipped with a reference clock 13 equivalent to the reference clock 21a of the GPS receiver 21 as position calculating means so as to share the same time as the buoy (1-1). Then, the computing unit 7 of the underwater robot 2 acquires the reception time when the time pulse is received by using the reference clock 13, obtains the arrival time by subtracting the transmission time from the reception time, and further the ultrasonic wave. The current position data is calculated by obtaining the direction of the transmitter 24 as the buoy direction. Other configurations are the same as those in the first embodiment.

The operation of the underwater object position measuring apparatus having the above structure will be described. As shown in FIG. 8, the buoy (1
-1) After the reference clock 21a and the reference clock 13 of the underwater robot 2 are set so that they point to the same time,
The buoy (1-1) is floated on the water surface and the underwater robot 2 is submerged. The buoy (1-1) floating on the surface of the water is the GPS receiver 21 and the ultrasonic transmitter 24.
The GPS receiver 21 operates the reference clock 21
When a shows a predetermined time, G from the GPS satellite 4
Position data will be calculated based on the PS signal 10. The buoy (1-1) is calculated by the GPS receiver 21.
Suppose that the position of X is obtained as position data (X1, Y1, Z1), this position data is transmitted underwater as an ultrasonic signal 11 together with a time pulse from the ultrasonic transmitter 24, and the ultrasonic receiver of the underwater robot 2 receives the position data. 3'will be received.

Here, the current position of the underwater robot 2 is (X
0, Y0, Z0) and the buoy from the underwater robot 2.
Assuming that the straight line distance up to (1-1) is R1, the reception time at which the ultrasonic receiver 3'receives the time pulse depends on the straight line distance R1. At this time, the reception time is obtained by the reference clock 13 built in the underwater robot 2, and the reference clock 13 is set to the same time as the buoy (1-1). Therefore, since the computing unit 7 of the underwater robot 2 recognizes the transmission time of the received time pulse, the arrival time from the transmission of the time pulse to the reception is calculated by subtracting the transmission time from the reception time of each time pulse. It is possible to obtain T1. Thereby, the computing unit obtains the arrival time T1 and also obtains the direction (θX, θY, θZ) of the ultrasonic receiver 3 ′ as the buoy direction, and then determines the arrival time T1 and the buoy direction (θ
X, θY, θZ) is substituted into the following calculation formulas (8) to (11) to obtain the current position (X0, Y0, Z0)
Is calculated.

R1 = T1 × C (8)

X0 = R1 × COS (θX) + X1 (9)

Y0 = R1 × COS (θY) + Y1 (10)

Z0 = R1 × COS (θZ) + Z1 (11)

[Embodiment 4] Another embodiment of the present invention is shown in FIG.
This will be described with reference to FIG. The same members as those in the first embodiment are designated by the same reference numerals and the description thereof will be omitted.

The underwater object position measuring apparatus according to this embodiment is
As shown in FIG. 10, a GPS receiver 21 and an ultrasonic transmitter 24 are mounted, and one buoy (1-1) that is operated by power supply from a battery or a solar cell and the underwater robot 2 are mounted. And an ultrasonic receiver 3 '. As shown in FIG. 11, the underwater robot 2 is provided with an ultrasonic wave receiver 3 ′ composed of three wave receivers, an amplifier 5, a demodulator 6, and a calculator 7 as position calculating means. In addition, the underwater robot 2
A horizontal gyro 32 and a vertical gyro 33 that detect the tilt angle of the underwater robot 2 are provided as position calculating means. The direction of the ultrasonic transmitter 24 is determined by the horizontal gyro 32, the vertical gyro 33, and the ultrasonic receiver 3 ′. It is designed to detect. Further, the underwater robot 2 is equipped with a depth meter 34 as position calculating means, and the computing unit 7 calculates current position data based on the buoy direction of the ultrasonic transmitter 24 and the depth of the underwater robot 2. It has become. Other configurations are the same as those in the first embodiment.

The operation of the underwater object position measuring apparatus having the above structure will be described. As shown in FIG. 11, one buoy (1-1) is floated on the water surface and the underwater robot 2 is submerged. The buoy (1-1) floating on the surface of the water is the GPS receiver 21 and the ultrasonic transmitter 2
4, the GPS receiver 21 calculates position data based on the GPS signal 10 from the GPS satellite 4. By the calculation by the GPS receiver 21,
If the position of the buoy (1-1) is obtained as position data (X1, Y1, Z1), this position data is transmitted into the water as an ultrasonic signal 11 from the ultrasonic transmitter 24, and the position of the underwater robot 2 is detected. Sound wave receiver] '. Then, the computing unit of the underwater robot 2 uses position data (X1, Y1, Z1), depth data ZS obtained from the depth gauge, and buoy directions (θX, θY, θ) of the ultrasonic receiver 3 ′.
By substituting Z) into the following calculation formulas (12) to (15), the current position (X0, Y0, Z0) is calculated.

R1 = ZS / COS (θZ) (12)

X0 = R1 × COS (θX) + X1 (13)

Y0 = R1 × COS (θY) + Y1 (14)

Z0 = ZS + Z1 (15)

[Embodiment 5] Another embodiment of the present invention is shown in FIG.
This will be described with reference to FIG. The same members as those in the first embodiment are designated by the same reference numerals and the description thereof will be omitted.

The underwater object position measuring apparatus according to this embodiment is
As shown in FIG. 12, three buoys (1-1), (1-2), (1) equipped with a GPS receiver 21 and an ultrasonic transmitter 24 and operated by power supply from batteries or solar cells are installed. -3) and an ultrasonic receiver 3 mounted on the underwater robot 2 which is an underwater object.

As shown in FIG. 2 of the first embodiment, the GPS receiver 21 has a built-in high precision reference clock 21a with an error of about 100 ns. The GPS receiver 21 transmits the G signal transmitted from the GPS satellites 4 ... When the reference clock 21a indicates a preset transmission time (for example, a time of even seconds).
The PS signal 10 is received, and position data composed of a digital signal is obtained based on the received signal and the like. Then, when the GPS receiver 21 obtains the position data, the GPS receiver 21 raises the first bit of the communication data including this position data to form a time pulse.

The GPS receiver 21 is connected to the ultrasonic transmitter 24 via the modulator 22 and the amplifier 23. The modulator 22 to which the communication data is input from the GPS receiver 21 modulates the communication data by an amplitude modulation method, a frequency modulation method, or a phase modulation method. In addition, the amplifier 23
Amplifies the modulated communication data. Then, the ultrasonic transmitter 24 transmits the communication data input from the amplifier 23 into the water in the form of the ultrasonic signal 11. This allows
All the buoys 1 ... Send position data and time pulses in the form of ultrasonic signals 11 at the same time based on the reference clock 21a. The time pulse can also be transmitted from the ultrasonic transmitter 24 as a pulse signal different from communication data including position data.

On the other hand, as shown in FIG. 13, the underwater robot 2 includes an ultrasonic receiver 3, an amplifier 5 for amplifying the received ultrasonic signal 11, and a demodulator 6 for demodulating the ultrasonic signal 11. The measurement clock 12 used for measuring the reception time of the time pulse or the position data and the calculator 7 are provided as position calculating means, and the measurement clock 12 for measuring the reception time of the time pulse and the depth of the underwater robot 2 are provided. And a depth meter 34 for measuring And
The computing unit 7 obtains the arrival time difference of the time pulse from the reception time of the time pulse that sequentially arrives from each buoy (1-1), (1-2), (1-3), and calculates the arrival time difference and the position data. The current position data is calculated based on the depth.

The operation of the underwater object position measuring device having the above structure will be described. As shown in FIG. 12, the buoy
After the (1-1), (1-2), (1-3) and the underwater robot 2 were mounted on a mother ship (not shown) and transported to the working water area, three buoys were installed.
(1-1), (1-2), (1-3) are floated on the water surface, and the underwater robot 2 is submerged. The buoys (1-1), (1-2), (1-3) floating on the surface of the water actuate the GPS receiver 21 and the ultrasonic transmitter 24, and the GPS receiver 21 has the reference clock 21a set in a predetermined manner. The position data is calculated on the basis of the GPS signal 10 from the GPS satellite 4 when the transmission time of is pointed to.

The positions of the buoys (1-1), (1-2) and (1-3) are calculated by the GPS receiver 21 and the position data (X
1, Y1, Z1) to (X3, Y3, Z3), each position data is transmitted into the water as an ultrasonic signal 11 together with a time pulse from the ultrasonic transmitter 24, and the ultrasonic wave of the underwater robot 2 is transmitted. It will be received by the receiver 3. In addition, "X" in the position data is north-south direction,
It is assumed that "Y" indicates the east-west direction and "Z" indicates the height (depth).

Here, the current position of the underwater robot 2 is (X
0, Y0, Z0), the straight line distance from the underwater robot 2 to each buoy (1-1), (1-2), (1-3) is R1, R2, R
3, the time pulse in the ultrasonic signal 11 transmitted from each buoy (1-1), (1-2), (1-3) at the same time is the ultrasonic receiver 3 of the underwater robot 2. The time required to reach (1) expands and contracts according to the linear distances R1, R2, R3. Therefore, the time pulse transmitted from each buoy (1-1), (1-2), (1-3) is
As shown in FIG. 14, after the arrival times T1, T2, and T3 have elapsed, they are respectively received by the ultrasonic receiver 3.

When the time pulse is received, the arithmetic unit 7 obtains the arrival time difference DT12, DT23 of the time pulse based on the reception time by the measurement clock 12, and the depth meter 34 obtains the depth data ZS of the underwater robot 2. The obtained depth data ZS and the position data Z1 of the buoy (1-1) are added to obtain the position data Z0 of the underwater robot 2. Then, the position data Z0 and the arrival time differences DT12 and DT23 are calculated by the following calculation formulas (16) to (1).
By substituting in 8), the current position (X0, Y0,
Z0) and the arrival time T1 of the earliest arrival time pulse will be calculated.

R1 = [(X1-X0) ² + (Y1-Y0) ² + (Z1-Z0) ² ] ^1/2 = T1 × C (16)

R2 = [(X2-X0) ² + (Y2-Y0) ² + (Z2-Z0) ² ] ^1/2 = T2 × C = (T1 + DT12) × C (17)

R3 = [(X3-X0) ² + (Y3-Y0) ² + (Z3-Z0) ² ] ^1/2 = T3 × C = (T1 + DT12 + DT23) × C (18)

As a result, the underwater robot 2 can detect the current position (X0, Y0, Z0) only by providing the ultrasonic receiver 3 as shown in FIG. 12, and the ultrasonic transmitter is not required. It is possible to reduce the cost by the amount. After this, when the work is finished, buoys (1-1), (1-2),
(1-3) and to collect the underwater robot 2 on the mother ship,
After the underwater robot 2 levitates, the buoy (1
The underwater robot 2 will be pulled up to the mother ship together with -1), (1-2) and (1-3). Therefore, since all the withdrawal work after the work is completed on the ship, the withdrawal work is completed within a short time. If the time data is added to the position data, the underwater robot 2 can obtain an accurate time based on the arrival time T1.

In the above first to fifth embodiments, the case where the number of buoys 1 corresponding to the number of detected position data is suspended on the water surface has been described, but the present invention is not limited to this. The current position may be grasped by receiving a signal from a specific buoy 1 of a large number of buoys 1 floating on the water surface. At this time, as a method of specifying the buoys 1, ..., A method of assigning a unique identification number to each buoy 1 and adding identification data indicating the identification number to communication data to specify the buoy 1 is set. There are a method of specifying by the ultrasonic signal 11 having a unique frequency and a method of specifying by a code of a unique M sequence (Maximal Length sequences) set for each buoy 1. Explaining the identification method using the M-sequence code, a unique code is set to the buoy 1 using one group formed by L "+" and "-" codes, and the receiving side that receives this code The buoy 1 that has been transmitted is specified by performing autocorrelation. In addition, in the first to fifth embodiments, the GPS receiver 2
Instead of 1, differential GPS or kinematic GPS may be used.

Further, in the first, second, and fifth embodiments, the time pulse is output from all the buoys 1 ... At the same time, but the present invention is not limited to this, and each buoy 1 can be output.
It is also possible to set different times to ... And output these time data while adding them to the position data.

The calculation formulas (1) to (1
8) shows the position of the underwater robot 2 at the time when the time pulse is transmitted from the buoy 1 ... At the current position (X0, Y0, Z
0), and is established when the underwater robot 2 is stationary. Therefore, when the underwater robot 2 is moving, the calculated current position (X
Since there is an error in (0, Y0, Z0), the current position (X0, Y0, Z0) of the moving underwater robot 2
In order to accurately obtain the current position, the movement amount and position of the underwater robot 2 in the X, Y and Z directions are measured, and the current position (X0, Y0, Z
It is desirable to correct 0). At this time, the movement amount of the underwater robot 2 can be measured using an accelerometer 31, a horizontal gyro 32, and a vertical gyro 33, as shown in FIG. 3, and a depth meter for measuring the movement amount in the Z direction. 34 and a Doppler velocimeter that measures the amount of movement in the X and Y directions can also be used. Further, instead of the underwater sound velocity meter 35, the sound velocity can be calculated by using the measurement data of salinity, depth and water temperature.

In the first to fifth embodiments, the position data of the buoy 1 detected by the GPS receiver 21 is the GPS data.
Since the antenna position of the receiver 21 is shown, the positional deviation between the antenna position and the ultrasonic transmitter 24 exists as an error component. Therefore, horizontal and vertical gyros are installed in the buoy 1 so that the current position data of the underwater robot 2 can be obtained with higher accuracy, and the position data of the ultrasonic transmitter 24 can be obtained by using the correction data of this gyro. It is desirable to correct the installation position. Furthermore, in Examples 1 to 5, the case where the buoy 1 is used as the holding body has been described, but for example, a mother ship or a support vessel can also be used as the holding body.

[0083]

According to the invention of claim 1, in an underwater object position measuring apparatus for measuring the position of an underwater object, GPS signals transmitted from a plurality of satellites constituting a global positioning system are received and based on those signals. Four holders that hold the detection means for detecting the positions and the transmission means for transmitting the data signals representing these positions as ultrasonic signals into the water at a predetermined time and are spaced apart from each other and located on the water surface. , Which is provided in the underwater object, receives the ultrasonic signals from the four transmitting means, obtains the arrival time difference of each of these signals from the transmitting means, and detects the underwater object of the underwater object based on the position data and the arrival time difference. This is a configuration including a position calculation means for calculating the current position.

As a result, since the underwater object is made to recognize the current position based on the ultrasonic signal transmitted from the holder, the preparatory work is only the work of floating the holder on the water surface, and the withdrawal work is performed. Only the work of collecting the holder floating on the water surface is required. Therefore, all the work at the time of preparation and withdrawal can be easily performed on the ship, so that preparation and withdrawal can be performed in a short time. In addition, since it is possible to obtain and confirm the current position data simply by equipping an underwater object with an ultrasonic receiver that receives ultrasonic signals, the cost of equipment required for ultrasonic transmitters, etc. can be reduced. Has the effect that it is possible.

According to a second aspect of the present invention, in an underwater object position measuring apparatus for measuring the position of an underwater object, GPS signals transmitted from a plurality of satellites constituting the global positioning system are received and the position is determined based on those signals. Three holders, each of which holds a detecting means for detecting and a transmitting means for transmitting a data signal or the like representing these positions as an ultrasonic signal into water at a predetermined time, at a distance from each other and on the water surface, The underwater object is provided in the underwater object, receives ultrasonic signals from the three transmitting means, obtains arrival times of these signals from the respective transmitting means, and calculates the present time of the underwater object based on the position data and the arrival time. And a position calculation means for calculating the position.

As a result, as in the case of claim 1, all the work at the time of preparation and withdrawal can be easily carried out on board, so that preparation and withdrawal can be carried out in a short time. Further, since it is composed of three holders, it is more than that according to claim 1, which is composed of four holders.
It is possible to prepare and withdraw in a shorter time and to reduce the cost.

According to a third aspect of the present invention, in an underwater object position measuring apparatus for measuring the position of an underwater object, GPS signals transmitted from a plurality of satellites constituting a global positioning system are received and the position is determined based on those signals. The holding means for detecting and a transmitting means for transmitting data signals representing these positions as ultrasonic signals in water at a predetermined time and holding one holding body positioned on the water surface, and the underwater object are provided. Receiving the ultrasonic signal from the transmitting means,
Position calculation for obtaining the arrival time of the ultrasonic signal from the transmitting means and the direction of the holder with respect to the underwater object, and calculating the current position of the underwater object based on the position data, the arrival time and the direction of the holder. And means.

As a result, as in the case of claim 1, all the work at the time of preparation and withdrawal can be easily performed on board, so that preparation and withdrawal can be done in a short time. Furthermore, since it is composed of one holding body, it is composed of four holding bodies.
It is possible to prepare and withdraw in a shorter time and to reduce the cost.

According to a fourth aspect of the present invention, in an underwater position measuring device for recognizing the current position of an underwater object existing in water, position data is obtained based on GPS signals from satellites which constitute the global positioning system, One holding body that transmits the position data as an ultrasonic signal into the water and the underwater object, the depth of the underwater object is obtained, and the holding is performed by receiving the ultrasonic signal from the holding body. This is a configuration including position calculating means for obtaining the position data of the body and the holding body direction, and calculating the current position data based on the depth, the position data, and the holding body direction.

As a result, as in the case of claim 1, all the work at the time of preparation and withdrawal can be easily carried out on board, so that preparation and withdrawal can be carried out in a short time. Furthermore, since it is composed of one holding body, it is composed of four holding bodies.
It is possible to prepare and withdraw in a shorter time and to reduce the cost.

According to a fifth aspect of the present invention, in an underwater object position measuring apparatus for measuring the position of an underwater object, GPS signals transmitted from a plurality of satellites constituting the global positioning system are received and the position is determined based on those signals. Three holders, each of which holds a detecting means for detecting and a transmitting means for transmitting a data signal or the like representing these positions as an ultrasonic signal into water at a predetermined time, at a distance from each other and on the water surface, The depth of the underwater object, which is provided in the underwater object, is determined, the ultrasonic signals from the three transmitting means are received, and the arrival time difference of each of these signals from the transmitting means is determined. The position calculation means calculates the current position of the underwater object based on the position data and the arrival time difference.

As a result, as in the case of claim 1, since all the work at the time of preparation and withdrawal can be easily performed on board, it is possible to prepare and withdraw in a short time. Further, since it is composed of three holders, it is more than that according to claim 1, which is composed of four holders.
It is possible to prepare and withdraw in a shorter time and to reduce the cost.

The invention of claim 6 is based on claims 1, 2, 3,
The holder described in 4 or 5 is adapted to emit an ultrasonic signal while including unique identification data,
The position calculation means is configured to identify the holder based on the identification data. As a result, the current position data can be obtained by selecting an arbitrary holding body from a large number of holding bodies, so even if a large number of holding bodies are arranged, the current position due to interference of ultrasonic signals, etc. It is possible to prevent erroneous detection of data.

The invention of claim 7 relates to claim 1, 2, 3,
The holder described in 4 or 5 is adapted to emit an ultrasonic signal at a unique frequency, and the position calculating means is adapted to identify the holder based on the frequency. It is a composition. As a result, the current position data can be obtained by selecting an arbitrary holding body from a large number of holding bodies, so even if a large number of holding bodies are arranged, the current position due to interference of ultrasonic signals, etc. It is possible to prevent erroneous detection of data.

The invention of claim 8 relates to claim 1, 2, 3,
The holder according to 4 or 5 is adapted to emit an ultrasonic signal containing a unique M-series code, and the position calculating means is based on the M-series code. It is a configuration designed to specify. As a result, the current position data can be obtained by selecting an arbitrary holding body from a large number of holding bodies, so even if a large number of holding bodies are arranged, the current position due to interference of ultrasonic signals, etc. It is possible to prevent erroneous detection of data.

The invention of claim 9 is the invention of claims 1, 2, 3,
The holder described in 4 or 5 has a configuration in which position data is corrected so as to indicate the position of the ultrasonic transmitter that transmits the ultrasonic signal. As a result, the position data is corrected so as to indicate the position of the ultrasonic transmitter that is the source of the ultrasonic signal, so that it is possible to obtain the current position data with high accuracy.

The invention of claim 10 is the same as that of claims 1, 2, 3,
The position calculation means described in 4 or 5 is configured to detect the movement amount of the underwater object and correct the current position data by the movement amount. Thus, by correcting the current position data with the movement amount of the underwater object, it is possible to obtain the current position data with high accuracy.

The invention of claim 11 is an underwater object position measuring apparatus for measuring the position of an underwater object,
A means for receiving GPS signals transmitted from a plurality of satellites constituting the global positioning system and detecting a position based on those signals; and a transmitting means for transmitting a data signal representing the position as an ultrasonic signal into the water. And a position calculation means that is provided in the underwater object, receives an ultrasonic wave signal transmitted from the holder, and calculates the current position of the underwater object based on the signal. It is a composition.

As a result, since the underwater object is made to recognize the current position based on the ultrasonic signal transmitted from the holding body, the preparatory work is only the work of floating the holding body on the water surface, and the withdrawal work is performed. Only the work of collecting the holder floating on the water surface is required. Therefore, all the work at the time of preparation and withdrawal can be easily performed on the ship, so that preparation and withdrawal can be performed in a short time. In addition, since it is possible to obtain and confirm the current position data simply by equipping the underwater object with an ultrasonic receiver that receives ultrasonic signals, it is possible to reduce the equipment cost required for the ultrasonic transmitter, etc. Has the effect of being

According to a twelfth aspect of the present invention, in an underwater object position measuring apparatus for measuring the position of an underwater object, a detecting means for detecting the position and a data signal or the like representing these positions are ultrasonic signals at a predetermined time underwater. And four transmitting means for transmitting and transmitting the ultrasonic wave signals from the four transmitting means, which are provided on the underwater object and which hold the transmitting means for transmitting to the The position calculation means for calculating the current arrival time difference from each transmission means and calculating the current position of the underwater object based on the position data and the time difference mentioned above.

As a result, as in the case of claim 11,
Since all the work at the time of preparation and withdrawal can be easily done on board, it is possible to prepare and withdraw in a short time and reduce the equipment cost required for the ultrasonic transmitter etc. The effect is possible.

According to a thirteenth aspect of the present invention, in an underwater object position measuring apparatus for measuring the position of an underwater object, detecting means for detecting the position and data signals representing these positions are ultrasonic signals at a predetermined time underwater. And transmitting means for respectively transmitting to the
The holding body of the table and the underwater object are provided, receive ultrasonic signals from the three transmitting means, determine arrival times of these signals from each transmitting means, and calculate the position data and the arrival time. And a position calculating means for calculating the current position of the underwater object based on the structure.

As a result, as in the case of claim 11,
Since all the work at the time of preparation and withdrawal can be easily done on board, it is possible to prepare and withdraw in a short time and reduce the equipment cost required for the ultrasonic transmitter etc. The effect is possible.

According to a fourteenth aspect of the present invention, in an underwater object position measuring apparatus for measuring the position of an underwater object, a detecting means for detecting the position and a data signal representing these positions are ultrasonic signals at a predetermined time underwater. And transmitting means for respectively transmitting to the
The holding body of the table and the underwater object are provided, the depth of the underwater object is obtained, the ultrasonic signals from the three transmitting means are received, and the arrival time difference of these signals from each transmitting means is obtained. A position calculation means for calculating the current position of the underwater object based on the depth of the underwater object and the position data and the arrival time difference.

As a result, as in the case of claim 11,
Since all the work at the time of preparation and withdrawal can be easily done on board, it is possible to prepare and withdraw in a short time and reduce the equipment cost required for the ultrasonic transmitter etc. The effect is possible.

In the underwater object position measuring apparatus for measuring the position of an underwater object according to claim 15, there is provided a means for detecting the position, which is located on the water surface, and a transmission for transmitting a data signal representing the position into the water as an ultrasonic signal. A holder for holding the means,
The position calculation means is provided in the underwater object, receives an ultrasonic signal transmitted from the holder, and calculates a current position of the underwater object based on the signal.

As a result, as in the case of claim 11,
Since all the work at the time of preparation and withdrawal can be easily done on board, it is possible to prepare and withdraw in a short time and reduce the equipment cost required for the ultrasonic transmitter etc. The effect is possible.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram of an underwater object position measuring device.

FIG. 2 is a block diagram of a buoy.

FIG. 3 is a block diagram of an underwater robot.

FIG. 4 is an explanatory diagram showing a positional relationship between an underwater robot and a buoy.

FIG. 5 is an explanatory diagram showing a difference in arrival times of ultrasonic signals.

FIG. 6 is an explanatory diagram showing a positional relationship between an underwater robot and a buoy.

FIG. 7 is a block diagram of an underwater robot.

FIG. 8 is an explanatory diagram showing a positional relationship between an underwater robot and a buoy.

FIG. 9 is a block diagram of an underwater robot.

FIG. 10 is an explanatory diagram showing a positional relationship between an underwater robot and a buoy.

FIG. 11 is a block diagram of an underwater robot.

FIG. 12 is an explanatory diagram showing a positional relationship between an underwater robot and a buoy.

FIG. 13 is a block diagram of an underwater robot.

FIG. 14 is an explanatory diagram showing a difference in arrival times of ultrasonic signals.

[Explanation of symbols]

 1 buoy 2 underwater robot 3 ultrasonic receiver 4 GPS satellite 5 amplifier 6 demodulator 7 calculator 10 GPS signal 11 ultrasonic signal 12 measurement clock 13 reference clock 21 global positioning system receiver 22 modulator 23 amplifier 24 ultrasonic transmitter 31 Accelerometer 32 Horizontal gyro 33 Vertical gyro 34 Depth meter 35 Underwater sound velocity meter

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Shozo Shibuya 9-52 Ashihara-cho, Nishinomiya-shi, Hyogo Prefecture Furuno Electric Co., Ltd.

Claims (15)

[Claims] 1. An underwater object position measuring apparatus for measuring the position of an underwater object, comprising: a detecting means for receiving GPS signals transmitted from a plurality of satellites constituting a global positioning system and detecting the position based on those signals. , Four holding bodies which respectively hold a transmission means for transmitting data signals representing these positions as ultrasonic signals into water at a predetermined time and are spaced apart from each other on the water surface, and the underwater object. Position calculation for receiving ultrasonic signals from the four transmitting means, determining arrival time differences of these signals from each transmitting means, and calculating a current position of the underwater object based on the position data and the arrival time difference. And an underwater object position measuring device. 2. An underwater object position measuring apparatus for measuring the position of an underwater object, and a detecting means for receiving GPS signals transmitted from a plurality of satellites constituting a global positioning system and detecting the position based on those signals. , Three holding bodies which respectively hold data transmitters for transmitting data signals representing these positions as ultrasonic signals in water at a predetermined time and are spaced apart from each other on the water surface, and the above-mentioned underwater object. A position for receiving the ultrasonic signals from the three transmitting means, determining the arrival times of these signals from each transmitting means, and calculating the current position of the underwater object based on the position data and the arrival time. An underwater object position measuring device comprising: a calculating unit. 3. An underwater object position measuring device for measuring the position of an underwater object, and a detecting means for receiving GPS signals transmitted from a plurality of satellites constituting a global positioning system and detecting the position based on those signals. , One holding body that is located on the water surface and that holds a transmitting means that transmits data signals representing these positions as ultrasonic signals to the water at a predetermined time, and that is provided in the underwater object and that is transmitted from the transmitting means. The ultrasonic signal is received, the arrival time of the ultrasonic signal from the transmitting means and the direction of the holding body with respect to the underwater object is obtained, and the underwater object is based on the position data, the arrival time and the direction of the holding body. And a position calculating means for calculating the present position of the underwater object position measuring device. 4. An underwater position measuring device for recognizing a current position of an underwater object existing underwater, wherein position data is obtained based on GPS signals from satellites constituting a global positioning system, and the position data is superposed. One holder that transmits in water as a sound wave signal, and the position data of the holder by being provided in the underwater object, determining the depth of the underwater object, and receiving an ultrasonic signal from the holder. An underwater position measuring device comprising: a position calculating means for obtaining a holding body direction and calculating current position data based on the depth, position data and the holding body direction. 5. An underwater object position measuring apparatus for measuring the position of an underwater object, and a detecting means for receiving GPS signals transmitted from a plurality of satellites constituting a global positioning system and detecting the position based on those signals. , Three holding bodies which respectively hold data transmitters for transmitting data signals representing these positions as ultrasonic signals in water at a predetermined time and are spaced apart from each other on the water surface, and the above-mentioned underwater object. And determining the depth of the underwater object and receiving ultrasonic signals from the three transmitting means,
It is characterized by having a position calculating means for calculating the arrival time difference from each transmitting means of these signals and calculating the current position of the underwater object based on the depth of the underwater object and the position data and the arrival time difference. Underwater object position measuring device. 6. The holding body is adapted to emit an ultrasonic signal while including unique identification data, and the position calculating means identifies the holding body based on the identification data. The underwater position measuring device according to claim 1, 2, 3, 4, or 5. 7. The holder is adapted to transmit an ultrasonic signal at a unique frequency, and the position calculating means is adapted to identify the holder based on the frequency. The underwater position measuring device according to claim 1, 2, 3, 4, or 5. 8. The holder is adapted to transmit an ultrasonic signal containing a unique M-series code, and the position calculating means is configured to operate the holder based on the M-series code. The underwater position measuring device according to claim 1, 2, 3, 4, or 5, wherein the underwater position measuring device is specified. 9. The holding body corrects position data so as to indicate a position of an ultrasonic wave transmitter that transmits the ultrasonic wave signal. 5. The underwater position measuring device according to 5. 10. The position calculating means detects the amount of movement of the underwater object, and corrects the current position data by the amount of movement, 1, 2, 3, 4, or 5.
The underwater position measuring device described. 11. An underwater object position measuring apparatus for measuring the position of an underwater object, receives GPS signals transmitted from a plurality of satellites which are located on the water surface and constitute a global positioning system, and determine the position based on these signals. A holding body that holds a detecting unit and a transmitting unit that transmits a data signal or the like representing the position into the water as an ultrasonic wave signal, and an ultrasonic wave signal that is provided in the underwater object and that is transmitted from the holding body. Then, the underwater object position measuring device is provided with position calculating means for calculating the current position of the underwater object based on the signal. 12. In an underwater object position measuring apparatus for measuring the position of an underwater object, a detecting means for detecting the position and a transmitting means for transmitting a data signal representing these positions as an ultrasonic signal into the water at a predetermined time. And four holding bodies which respectively hold and are located on the water surface and are separated from each other, and which are provided in the underwater object, receive the ultrasonic signals from the four transmitting means, and transmit from each transmitting means of these signals. And a position calculation means for calculating the current position of the underwater object based on the position data and the arrival time difference. 13. An underwater object position measuring apparatus for measuring the position of an underwater object, wherein a detecting means for detecting the position and a data signal representing these positions are transmitted as ultrasonic signals in water at predetermined times. Means for holding each of the means and each of which is located apart from each other on the surface of the water, and which is provided in the underwater object, receives the ultrasonic signals from the three transmitting means, and transmits each of these signals. An underwater object position measuring device, comprising: a position calculating unit that calculates an arrival time from the position and calculates a current position of the underwater object based on the position data and the arrival time. 14. An underwater object position measuring apparatus for measuring the position of an underwater object, and a detecting means for detecting the position and a data signal representing these positions are transmitted as ultrasonic signals in water at predetermined times. Means for holding each of the means and each of them, which are spaced apart from each other and located on the surface of the water, and which are provided in the underwater object, determine the depth of the underwater object, and receive ultrasonic signals from the three transmitting means. Then
It is characterized by having a position calculating means for calculating the arrival time difference from each transmitting means of these signals and calculating the current position of the underwater object based on the depth of the underwater object and the position data and the arrival time difference. Underwater object position measuring device. 15. An underwater object position measuring apparatus for measuring the position of an underwater object, and means for detecting the position, which is located on the water surface, and transmitting means for transmitting a data signal or the like representing the position into the water as an ultrasonic signal. And a position calculation means that is provided in the underwater object, receives an ultrasonic wave signal transmitted from the holder, and calculates the current position of the underwater object based on the signal. An underwater object position measuring device characterized in that