単一周波数の複数ピンガーによるROVの誘導

概要

論文の詳細を見る
Remotely operated vehicle (ROV) is a useful tool in underwater investigation. However, the guidance of ROV to a target is a very difficult task without the assistance of a locating system. We, therefore, tried to develop a locating system for the ROV which displays, in real time, both the locations of a ROV and a target by the use of multiple pingers (ultrasonic fish tag) of a single frequency attached to them. From a practical point of view, the authors adopted a form of time division scheme in order to distinguish each pinger. The system consists of four hydrophones, a four channel-receiver, and a personal computer. As the signal is received, it interrupts onto a personal computer so that the signal can be processed. When three pulses of an interval are found in the received pulse train, a corresponding pinger can be identified. Tracking of the pinger can be performed by the prediction of the next receiving time of the pulse using both the phase difference and the pulse interval. The same is to be applied to other pingers. In this system, the pinger position is calculated by the method of hyperbolic line of position calculation. In the experiments, the guidance of ROV to the target pinger was achieved with ease, and each pinger was distinguished successfully.
社団法人日本航海学会の論文
1990-09-20