JPS6218018B2 - - Google Patents
Info
- Publication number
- JPS6218018B2 JPS6218018B2 JP8070080A JP8070080A JPS6218018B2 JP S6218018 B2 JPS6218018 B2 JP S6218018B2 JP 8070080 A JP8070080 A JP 8070080A JP 8070080 A JP8070080 A JP 8070080A JP S6218018 B2 JPS6218018 B2 JP S6218018B2
- Authority
- JP
- Japan
- Prior art keywords
- transducer
- distance
- receiver
- sound
- processing device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 238000001514 detection method Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 3
- 230000003321 amplification Effects 0.000 description 2
- 238000003199 nucleic acid amplification method Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/87—Combinations of sonar systems
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Length Measuring Devices Characterised By Use Of Acoustic Means (AREA)
Description
【発明の詳細な説明】
この発明は、たとえば航走している海洋構造物
間の相対位置を簡単に検知できるようにした相対
位置検知装置に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a relative position detection device that can easily detect the relative positions of, for example, moving marine structures.
つぎにこの発明を、その実施例を示した図面と
ともに、詳細に説明する。 Next, the present invention will be described in detail with reference to drawings showing embodiments thereof.
第１図は、この発明の装置のブロツク図を示
し、信号処理装置１、送受波器２、受波器３およ
び反射体４から構成され、一方の海洋構造物Ａ
に、信号処理装置１と送受波器２、受波器３が装
備され、また送受波器２と受波器３は、鉛直軸７
上に一定間隔ａで垂直に配置され、他方の海洋構
造物Ｂに、反射体４が装備されている。 FIG. 1 shows a block diagram of the device of the present invention, which is composed of a signal processing device 1, a transducer 2, a receiver 3, and a reflector 4.
is equipped with a signal processing device 1, a transducer 2, and a receiver 3, and the transducer 2 and receiver 3 are mounted on a vertical axis 7.
The other marine structure B is equipped with a reflector 4 arranged vertically at a constant distance a above.
そして、信号処理装置１内の信号処理器５は、
送信コントロール、計算回路等から構成され、送
受信器６は、送受波器２から送波音を送信するた
めの電力増幅回路と、送受波器２、受波器３から
の受波信号を増幅する増幅回路等から構成されて
いる。 The signal processor 5 in the signal processing device 1 is
The transceiver 6 is composed of a transmission control circuit, a calculation circuit, etc., and includes a power amplification circuit for transmitting the transmitted sound from the transducer 2, and an amplification circuit for amplifying the received signals from the transducer 2 and the transducer 3. It consists of circuits, etc.
一方、反射体４は、送受波器２からの送波音を
送り返す反射体として使用している。 On the other hand, the reflector 4 is used as a reflector for sending back the transmitted sound from the transducer 2.
つぎに、前記装置が、海洋構造物の相対位置を
検知する手段について説明する。 Next, a description will be given of the means by which the device detects the relative position of the marine structure.
第２図のチヤートに示すように、送受波器２
から一定周波数、一定パルス幅の送波音Ｆを、
一定間隔で送波する。 As shown in the chart of Fig. 2, the transducer 2
The transmitted sound F with a constant frequency and constant pulse width is
Transmit waves at regular intervals.
送受波器２から送波された送波音Ｆは、反射
体４で受波したのち、ドツプラー効果により周
波数がＦ＋△Ｆとなつて送り返される。それら
の反射波は、送受波器２と受波器３で受波音と
して受波される。 The transmitted sound F transmitted from the transducer 2 is received by the reflector 4 and then sent back with a frequency of F+ΔF due to the Doppler effect. Those reflected waves are received by the transducer 2 and receiver 3 as received sound.
受波された受波音は、送受信器６で増幅さ
れ、受波信号として信号処理器５へ送出され
る。 The received sound is amplified by the transceiver 6 and sent to the signal processor 5 as a received signal.
信号処理器５は、第２図に示すように、送波
音と受波音の時間間隔から、送受波器２、受波
器３と反射体４間の距離r1，r2を計算する。第
３図は、送受波器２、受波器３と反射体４間の
相対位置関係を示す。 As shown in FIG. 2, the signal processor 5 calculates the distances r 1 and r 2 between the transducer 2, the receiver 3, and the reflector 4 from the time interval between the transmitted sound and the received sound. FIG. 3 shows the relative positional relationship between the transducer 2, the receiver 3, and the reflector 4.
第３図の関係から、距離r1，r2および送受波
器２と受波器３間の距離ａから、鉛直軸７と送
受波器２と反射体４を結ぶ角θと、送受波器２
と反射体４の相対深度ｚを次式から算出する。 From the relationship shown in Figure 3, from the distances r 1 and r 2 and the distance a between the transducer 2 and the transducer 3, the angle θ connecting the vertical axis 7, the transducer 2, and the reflector 4, and the angle θ between the transducer and the transducer 2
and the relative depth z of the reflector 4 are calculated from the following equation.
r2 2＝r1 2＋a2−2r1acos（180−θ） ……(1) cos（180−θ）＝−cosθ ………(2) (1)、(2)式より、θは(3)式で求まる。 r 2 2 = r 1 2 + a 2 −2r 1 acos (180−θ) …(1) cos (180−θ) = −cosθ ………(2) From equations (1) and (2), θ is It can be found using equation (3).
θ＝cos-1ｒ２ ２−（ｒ１ ２＋ａ２）／２ｒ１ａ…
……(3)
また、相対深度ｚは、ｚ＝r1cosθから(4)式
で求まる。 θ=cos -1 r 2 2 - (r 1 2 + a 2 )/2r 1 a...
...(3) Also, the relative depth z can be found by equation (4) from z=r 1 cosθ.
ｚ＝ｒ２ ２−（ｒ１ ２＋ａ２）／２ａ………(4
)
以上求めた(3)、(4)式より、海洋構造物Ｂは、
海洋構造物Ａに対し、送受波器２と角度θをな
す円錐の領域で、相対深度ｚの位置にあること
が検知される。 z = r22- ( r12 + a2 )/ 2a ......(4
) From equations (3) and (4) obtained above, marine structure B is
With respect to the marine structure A, it is detected that it is located at a relative depth z in a conical region forming an angle θ with the transducer 2 .
さらに、第４図に示すように、海洋構造物Ｂ
が、点P1から点P2に航走し、点P1，P2における
海洋構造物Ｂの鉛直軸７とのなす角をθ1′，θ
2′、そのときの海洋構造物Ｂの海洋構造物Ａと
の距離をR1，R2、ドツプラーシフトを△F1，
△F2、海洋構造物Ｂの正横点P0の正横距離を
Ｙ、点P1，P2の正横点までの距離をl1，l2とす
ると、△F1と△F2との間につぎの式が成り立
つ。 Furthermore, as shown in Figure 4, offshore structure B
is sailing from point P 1 to point P 2 , and the angles formed with the vertical axis 7 of marine structure B at points P 1 and P 2 are θ 1 ′, θ
2 ', the distance between marine structure B and marine structure A at that time is R 1 , R 2 , and the Doppler shift is △F 1 ,
△F 2 , the horizontal distance from the horizontal point P 0 of marine structure B is Y, and the distances to the horizontal points of points P 1 and P 2 are l 1 and l 2 , then △F 1 and △F 2 The following formula holds between .
△Ｆ２／△Ｆ１＝ｃｏｓθ２′／ｃｏｓθ１
′……(5)
つぎに、第４図より明らかなように、
cosθ1′＝ｌ１／Ｒ１ ……(6)
cosθ2′＝ｌ２／Ｒ２ ……(7)
l1＝（R1 2sin2θ１−Y2）〓 ……(8)
l2＝（R2 2sin2θ２−Y2）〓 ……(9)
の式が成り立ち、(6)ないし(9)式を(5)式に代入す
ると、
△Ｆ２／△Ｆ１＝Ｒ１／Ｒ２×（Ｒ２ ２ｓｉｎ２θ２
−Ｙ２）〓／（Ｒ１ ２ｓｉｎ２θ１−Ｙ２）〓……(10)
となる。したがつて、正横距離Ｙは次式で求ま
る。 △F 2 / △F 1 = cos θ 2 ′/cos θ 1
′...(5) Next, as is clear from Figure 4, cosθ 1 ′=l 1 /R 1 ...(6) cosθ 2 ′=l 2 /R 2 ...(7) l 1 =( R 1 2 sin 2 θ 1 −Y 2 )〓 ……(8) l 2 = (R 2 2 sin 2 θ 2 −Y 2 )〓 ……(9) holds true, and (6) or (9) Substituting the formula into formula (5), △F 2 /△F 1 = R 1 /R 2 × (R 2 2 sin 2 θ 2
−Y 2 )〓/(R 1 2 sin 2 θ 1 −Y 2 )〓……(10)
becomes. Therefore, the normal lateral distance Y is determined by the following equation.
Ｙ＝（△Ｆ２ ２Ｒ２ ２Ｒ１ ２ｓｉｎ２θ１−△Ｆ１ ２Ｒ１ ２Ｒ２ ２ｓｉｎ２θ２／△Ｆ２ ２Ｒ２ ２
−△Ｆ１ ２Ｒ１ ２）〓……(11)
ここで、△F1、△F2、R1、R2、θ１、θ２
は計測値および計算値である。 Y=(△F 2 2 R 2 2 R 1 2 sin 2 θ 1 - △F 1 2 R 1 2 R 2 2 sin 2 θ 2 / △F 2 2 R 2 2
−△F 1 2 R 1 2 ) =……(11) Here, △F 1 , △F 2 , R 1 , R 2 , θ 1 , θ 2
are measured and calculated values.
以上のように、この発明は、一方の物体の鉛直
軸上に一定間隔で配置された送受波器と受波器
と、信号処理装置を備え、前記送受波器から送波
音を発信し、前記送波音の航走する他方の物体か
らの反射音を、前記送受波器および受波器により
受波し、前記信号処理装置により前記他方の物体
の正横距離を検知する相対位置検知装置におい
て、前記信号処理装置に、
前記他方の物体の２点の位置において、
送波音と受波音の時間間隔から前記両物体の距
離を算出する手段と、
ドツプラーシフトを計測する手段と、
前記鉛直軸となす角を算出する手段と、
前記各算出された距離、角およびドツプラーシ
フトから前記正横距離を算出する手段と
を備えたことを特徴とする相対位置検知装置であ
る。 As described above, the present invention includes a transducer and a receiver arranged at regular intervals on the vertical axis of one object, and a signal processing device, transmits a transmitted sound from the transducer, and A relative position detection device that receives reflected sound of transmitted sound from the other object traveling by the transducer and receiver, and detects the transverse distance of the other object by the signal processing device, The signal processing device includes: means for calculating the distance between the two objects from the time interval between the transmitted sound and the received sound at two points on the other object; means for measuring Doppler shift; and the vertical axis. A relative position detection device comprising: means for calculating an angle formed by the vehicle; and means for calculating the normal lateral distance from each of the calculated distances, angles, and Doppler shift.
したがつて、この発明によると、航走する物体
の正横距離を簡単に検知することができる。 Therefore, according to the present invention, the transverse distance of a traveling object can be easily detected.
図面は、この発明の相対位置検知装置の実施例
を示し、第１図は装置のブロツク図、第２図は送
波音と受波音のチヤート、第３図は送受波器、受
波器と反射体の相対位置関係図、第４図は海洋構
造物ＡとＢの相対位置関係図である。
Ａ，Ｂ……海洋構造物、１……信号処理装置、
２……送受波器、３……受波器、４……反射体、
５……信号処理器、６……送受信器、７……鉛直
軸。
The drawings show an embodiment of the relative position detection device of the present invention, with FIG. 1 being a block diagram of the device, FIG. 2 being a chart of transmitted and received sounds, and FIG. 3 being a transducer, receiver, and reflection. Figure 4 is a diagram showing the relative positional relationship between marine structures A and B. A, B...Marine structure, 1...Signal processing device,
2... Transducer/receiver, 3... Receiver, 4... Reflector,
5...Signal processor, 6...Transmitter/receiver, 7...Vertical axis.
Claims (1)
た送受波器と受波器と、信号処理装置を備え、前
記送受波器から送波音を発信し、前記送波音の航
走する他方の物体からの反射音を、前記送受波器
および受波器により受波し、前記信号処理装置に
より前記他方の物体の正横距離を検知する相対位
置検知装置において、前記信号処理装置に、 前記他方の物体の２点の位置において、 送波音と受波音の時間間隔から前記両物体の距
離を算出する手段と、 ドツプラーシフトを計測する手段と、 前記鉛直軸となす角を算出する手段と、 前記算出された距離、角およびドツプラーシフ
トから前記正横距離を算出する手段と を備えたことを特徴とする相対位置検知装置。[Scope of Claims] 1 A transducer and a receiver are arranged at regular intervals on the vertical axis of one object, and a signal processing device is provided, the transducer transmits a transmitted sound, and the transmitted sound is The relative position detection device receives reflected sound from the other object traveling by the transducer and receiver, and detects the transverse distance of the other object by the signal processing device, wherein the signal The processing device includes: means for calculating the distance between the two objects from the time interval between the transmitted sound and the received sound; means for measuring the Doppler shift; and an angle formed with the vertical axis at two points on the other object. A relative position detection device comprising: means for calculating the normal lateral distance; and means for calculating the normal lateral distance from the calculated distance, angle, and Doppler shift.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8070080A JPS576378A (en) | 1980-06-14 | 1980-06-14 | Relative position detector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8070080A JPS576378A (en) | 1980-06-14 | 1980-06-14 | Relative position detector |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS576378A JPS576378A (en) | 1982-01-13 |
| JPS6218018B2 true JPS6218018B2 (en) | 1987-04-21 |
Family
ID=13725598
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP8070080A Granted JPS576378A (en) | 1980-06-14 | 1980-06-14 | Relative position detector |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS576378A (en) |
-
1980
- 1980-06-14 JP JP8070080A patent/JPS576378A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS576378A (en) | 1982-01-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| ES426809A1 (en) | Acoustic log | |
| JPS6218018B2 (en) | ||
| JPS61180390U (en) | ||
| JP2916362B2 (en) | Apparatus and method for correcting sound velocity in position measurement | |
| JPS6342754B2 (en) | ||
| JP2875118B2 (en) | Ultrasonic detector | |
| JP2944481B2 (en) | Underwater active sound detector | |
| JP2765317B2 (en) | Sonar device | |
| JPH0126496B2 (en) | ||
| JPH05240719A (en) | Ultrasonic remote water temperature measuring device | |
| JPS6365897B2 (en) | ||
| JPH0611452Y2 (en) | Ultrasonic transducer | |
| JPH05133792A (en) | Liquid level sensing device for pressure vessel | |
| JP2000298170A (en) | Ultrasonic sounding machine | |
| JP3045332B2 (en) | Moving object speed detector | |
| JPH09178837A (en) | Obstruction detecting device | |
| JP2930678B2 (en) | Side-looking sonar | |
| JPH0560073B2 (en) | ||
| JP2531276Y2 (en) | Road surface condition detection device | |
| SU1088513A1 (en) | Method of bistatic acoustic atmospheric sounding | |
| JPH05240718A (en) | Ultrasonic remote water temperature measuring device | |
| CA2107198A1 (en) | Method and apparatus for accurate acoustic distance measurement | |
| JPH02290583A (en) | Ground speed detecting device | |
| JPH0636158A (en) | Ultrasonic type fire detector | |
| JPS587948B2 (en) | Relative position measurement method |