JP2003028958A - Method and apparatus for recognizing a submerged underwater object, and an underwater vehicle equipped with the apparatus - Google Patents
Method and apparatus for recognizing a submerged underwater object, and an underwater vehicle equipped with the apparatusInfo
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- JP2003028958A JP2003028958A JP2001214322A JP2001214322A JP2003028958A JP 2003028958 A JP2003028958 A JP 2003028958A JP 2001214322 A JP2001214322 A JP 2001214322A JP 2001214322 A JP2001214322 A JP 2001214322A JP 2003028958 A JP2003028958 A JP 2003028958A
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Abstract
(57)【要約】
【課題】 海底に沈座する対象物体を検出することので
きる海底沈座物体認識方法およびその装置、並びにその
装置を備えた水中航走体を提供することを目的とする。
【解決手段】 海中に位置する送波器２と、該送波器２
から送波された信号が、海底面９あるいは該海底面９に
沈座する対象物体１０にあたって反射する反射信号を受
波し、かつ離間して配置された２つの受波部３，４と、
これら受波部３，４が受波した信号の相関をとって相関
位相を計算する相関処理器５と、前記相関位相が複数入
力され、これら相関位相に変化が現れる場合には海底面
９に対象物体１０が沈座しているものと判断し、前記相
関位相に変化がない場合には海底面９に対象物体１０は
存在していないものと判断する位相判断手段６と、を備
えることを特徴とする。
An object of the present invention is to provide a method for recognizing a submerged object that can detect a target object submerged on the sea floor, an apparatus therefor, and an underwater vehicle equipped with the apparatus. . SOLUTION: A transmitter 2 located in the sea, and the transmitter 2
A signal transmitted from the receiver receives a reflection signal reflected on the sea bottom 9 or a target object 10 settled on the sea bottom 9, and two receiving units 3 and 4 which are spaced apart from each other;
A correlation processor 5 for calculating a correlation phase by correlating the signals received by the receiving units 3 and 4 and a plurality of the correlation phases are inputted, and when a change appears in the correlation phases, the correlation is transmitted to the sea floor 9. Phase judging means 6 for judging that the target object 10 is sinking, and judging that the target object 10 does not exist on the sea floor 9 when the correlation phase does not change. Features.
Description
【０００１】[0001]
【発明の属する技術分野】本発明は海底沈座物体認識方
法およびその装置、並びにその装置を備えた水中航走体
に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for recognizing a seabed object and its apparatus, and an underwater vehicle equipped with the apparatus.
【０００２】[0002]
【従来の技術】従来、水中における対象物体の検出は、
アクティブ・ソナーを用いて超音波を対象物体に向けて
送信し、対象物体からの反射音、特に反射音のレベルを
検出することによって行われている。2. Description of the Related Art Conventionally, the detection of a target object in water is
This is performed by transmitting an ultrasonic wave toward an object using an active sonar and detecting the level of reflected sound from the object, especially the level of the reflected sound.
【０００３】このような従来の手法によって得られた結
果を図５に示す。この図５の（ａ）は時間とともに変化
する受信音レベルの変化を示すグラフであり、（ｂ）は
（ａ）の受信音レベルを周波数分析した結果を示すグラ
フである。The result obtained by such a conventional method is shown in FIG. FIG. 5A is a graph showing the change of the received sound level that changes with time, and FIG. 5B is a graph showing the result of frequency analysis of the received sound level of FIG. 5A.
【０００４】[0004]
【発明が解決しようとする課題】しかしながら、図５に
示すように、対象物体が海底に沈座している場合、海底
に向けて音波を送信するため、対象物体からの反射音が
海底からの反射音に埋もれてしまい対象物体の検出がで
きないという問題点があった。However, as shown in FIG. 5, when the target object is sunk on the seabed, sound waves are transmitted toward the seabed, so the sound reflected from the target object is reflected from the seabed. There is a problem that the target object cannot be detected because it is buried in the reflected sound.
【０００５】本発明は上記の事情に鑑みてなされたもの
で、海底に沈座する対象物体を検出することのできる海
底沈座物体認識方法およびその装置、並びにその装置を
備えた水中航走体を提供することを目的とする。The present invention has been made in view of the above circumstances, and a method and apparatus for recognizing a submarine object which can detect a target object sunk on the seabed, and an underwater vehicle equipped with the apparatus. The purpose is to provide.
【０００６】[0006]
【課題を解決するための手段】本発明の海底沈座物体認
識方法およびその装置、並びにその装置を備えた水中航
走体では、上記課題を解決するため、以下の手段を採用
した。すなわち、請求項１記載の海底沈座物体認識方法
によれば、海中の送波器から信号を送波し、送波された
信号が、海底面あるいは該海底面に沈座する対象物体に
あたって反射する反射信号を、離間して配置された２つ
の受波部で受波し、これら受波部で受波した信号の相関
をとって相関位相を計算した後、前記計算によって得ら
れた複数の相関位相を比較して、これら相関位相に変化
が現れる場合には前記海底面に対象物体が沈座している
ものと判断し、これら相関位相に変化がない場合には前
記海底面に対象物体が存在していないものと判断するこ
とを特徴とする。海底面に対象物体が沈座していない場
合には、上記計算によって得られた相関位相に変化が生
じない。また、海底面に対象物体が沈座している場合に
は、上記計算によって得られた相関位相に変化が生じ
る。したがって、この相関位相の変化を調べることで、
海底面に沈座している対象物体を検出することができ
る。たとえば、図３（ｃ）に示すように、２つの受波部
によって反射音を受信し、信号の相関をとって相関位相
を計算する。相関位相を複数求め、これら相関位相に変
化がある場合は海底面に対象物体が沈座しているものと
判断し、これら相関位相に変化がない場合は海底面に対
象物体が存在していないものと判断する。In order to solve the above-mentioned problems, the following means are adopted in the method of recognizing a seabed object and its apparatus and the underwater vehicle equipped with the apparatus of the present invention. That is, according to the method for recognizing a submarine sink object according to claim 1, a signal is transmitted from a wave transmitter in the sea, and the transmitted signal is reflected at the sea bottom or the target object seated on the sea bottom. The reflected signals to be received are received by the two wave receiving sections arranged apart from each other, the correlation phase is calculated by calculating the correlation between the signals received by these wave receiving sections, and then the plurality of the plurality of signals obtained by the calculation are obtained. When the correlation phases are compared and changes in these correlation phases appear, it is determined that the target object is sunk on the sea floor, and when there is no change in these correlation phases, the target object is located on the sea floor. The feature is that it is determined that the item does not exist. When the target object is not seated on the sea floor, the correlation phase obtained by the above calculation does not change. Further, when the target object is seated on the sea bottom, the correlation phase obtained by the above calculation changes. Therefore, by examining the change in this correlation phase,
It is possible to detect a target object sitting on the sea floor. For example, as shown in FIG. 3C, the reflected sound is received by the two wave receivers, the correlation of the signals is calculated, and the correlation phase is calculated. Obtain multiple correlation phases.If there are changes in these correlation phases, it is determined that the target object is sunk on the sea floor. If there are no changes in these correlation phases, the target object does not exist on the sea floor. Judge that.
【０００７】請求項２記載の海底沈座物体認識方法によ
れば、請求項１記載の海底沈座物体認識方法において、
前記相関位相は、各受波部で受波した信号をそれぞれ直
交変調した後、相関計算、積分計算、および位相計算し
て求められたものであることを特徴とする。この海底沈
座物体認識方法においては、各受波部で受波した信号を
それぞれ直交変調し、これら２つの信号の相関を求め、
これを時間で積分した後、相関位相を求めるようにして
いる。According to the method of recognizing a submarine seated object according to claim 2, in the method of recognizing a submarine seated object according to claim 1,
The correlation phase is obtained by performing quadrature modulation on the signals received by each wave receiving unit, and then performing correlation calculation, integration calculation, and phase calculation. In this method of recognizing a seabed object, the signals received by the respective wave receivers are orthogonally modulated, and the correlation between these two signals is obtained.
After integrating this over time, the correlation phase is obtained.
【０００８】請求項３記載の海底沈座物体認識方法によ
れば、請求項１記載の海底沈座物体認識方法において、
前記相関位相は、各受波部で受波した信号をそれぞれ直
交変調した後、それぞれの位相を求め、これら位相の差
として求められたものであることを特徴とする。この海
底沈座物体認識方法においては、各受波部で受波した信
号をそれぞれ直交変調し、これらの式から各受波部での
位相を求めて、これらの差をとって相関位相を求めるよ
うにしている。According to the method for recognizing a seabed object according to claim 3, in the method for recognizing a seabed object according to claim 1,
It is characterized in that the correlation phase is obtained as a difference between the phases obtained by orthogonally modulating the signals received by the respective wave receiving sections and then obtaining the respective phases. In this method of recognizing a seabed object, the signals received by each receiving unit are quadrature-modulated, the phase at each receiving unit is calculated from these equations, and the correlation phase is calculated by taking the difference between these. I am trying.
【０００９】請求項４記載の海底沈座物体認識方法によ
れば、請求項１記載の海底沈座物体認識方法において、
少なくとも前記送波器および前記受波器は前記海中を移
動するものであり、かつ前記送波器から送波される信号
は進行方向前方の前記海底面に向けて送波されることを
特徴とする。この海底沈座物体認識方法においては、少
なくとも送波器および受波器が海中を移動し、かつ送波
器から送波される信号が進行方向前方の海底面に向けて
送波されるようにしている。According to the method for recognizing a seabed object according to claim 4, in the method for recognizing a seabed object according to claim 1,
At least the wave transmitter and the wave receiver move in the sea, and the signal transmitted from the wave transmitter is transmitted toward the sea bottom in the forward direction. To do. In this method of recognizing a seabed object, at least the transmitter and the receiver move in the sea, and the signal transmitted from the transmitter is transmitted toward the seabed in front of the traveling direction. ing.
【００１０】請求項５記載の海底沈座物体認識装置によ
れば、海中に位置する送波器と、該送波器から送波され
た信号が、海底面あるいは該海底面に沈座する対象物体
にあたって反射する反射信号を受波し、かつ離間して配
置された２つの受波部と、これら受波部が受波した信号
の相関をとって相関位相を計算する相関処理器と、前記
相関位相が複数入力され、これら相関位相に変化が現れ
る場合には海底面に対象物体が沈座しているものと判断
し、前記相関位相に変化がない場合には海底面に対象物
体は存在していないものと判断する位相判断手段と、を
備えることを特徴とする。海底面に対象物体が沈座して
いない場合には、上記相関処理器によって得られた相関
位相に変化が生じない。また、海底面に対象物体が沈座
している場合には、上記相関処理器によって得られた相
関位相に変化が生じる。したがって、この相関位相の変
化を位相判断手段で判別することで、海底面に沈座して
いる対象物体を検出することができる。たとえば、図３
（ｃ）に示すように、２つの受波部によって反射音を受
信し、信号の相関をとって相関位相を計算する。相関位
相を複数求め、これら相関位相に変化がある場合は海底
面に対象物体が沈座しているものと判断し、これら相関
位相に変化がない場合は海底面に対象物体が存在してい
ないものと判断する。According to the apparatus for recognizing a seabed object according to a fifth aspect of the present invention, a wave transmitter located in the sea and a signal transmitted from the wave transmitter are set on the sea floor or on the sea floor. And a correlation processor that receives a reflection signal reflected by an object and that is disposed apart from each other; and a correlation processor that calculates the correlation phase by correlating the signals received by these reception units. If multiple correlation phases are input and changes in these correlation phases appear, it is determined that the target object is sunk on the sea floor, and if there is no change in the correlation phase, the target object exists on the sea floor. And a phase determination means for determining that it has not been performed. When the target object is not seated on the sea bottom, the correlation phase obtained by the correlation processor does not change. Further, when the target object is seated on the sea bottom, the correlation phase obtained by the correlation processor changes. Therefore, by discriminating the change in the correlation phase by the phase discriminating means, it is possible to detect the target object sitting on the sea floor. For example, in FIG.
As shown in (c), the reflected sound is received by the two wave receivers, the correlation between the signals is calculated, and the correlation phase is calculated. Obtain multiple correlation phases.If there are changes in these correlation phases, it is determined that the target object is sunk on the sea floor. If there are no changes in these correlation phases, the target object does not exist on the sea floor. Judge that.
【００１１】請求項６記載の海底沈座物体認識装置によ
れば、請求項５記載の海底沈座物体認識装置において、
前記相関位相は、各受波部で受波した信号をそれぞれ直
交変調した後、相関計算、積分計算、および位相計算し
て求められたものであることを特徴とする。この海底沈
座物体認識装置においては、各受波部で受波した信号を
それぞれ直交変調し、これら２つの信号の相関を求め、
これを時間で積分した後、相関位相を求めるようにして
いる。According to the apparatus for recognizing a seabed object according to claim 6, in the apparatus for recognizing a seabed object according to claim 5,
The correlation phase is obtained by performing quadrature modulation on the signals received by each wave receiving unit, and then performing correlation calculation, integration calculation, and phase calculation. In this seabed object recognizing device, the signals received by the respective receiving units are respectively quadrature-modulated, and the correlation between these two signals is obtained.
After integrating this over time, the correlation phase is obtained.
【００１２】請求項７記載の海底沈座物体認識装置によ
れば、請求項５記載の海底沈座物体認識装置において、
前記相関位相は、各受波部で受波した信号をそれぞれ直
交変調した後、それぞれの位相を求め、これら位相の差
として求められたものであることを特徴とする。この海
底沈座物体認識装置においては、各受波部で受波した信
号をそれぞれ直交変調し、これらの式から各受波部での
位相を求めて、これらの差をとって相関位相を求めるよ
うにしている。According to the apparatus for recognizing a seabed object according to claim 7, in the apparatus for recognizing a seabed object according to claim 5,
It is characterized in that the correlation phase is obtained as a difference between the phases obtained by orthogonally modulating the signals received by the respective wave receiving sections and then obtaining the respective phases. In this seabed object recognizing device, the signals received by each receiving unit are respectively quadrature-modulated, the phase at each receiving unit is obtained from these equations, and the correlation phase is obtained by taking the difference between these. I am trying.
【００１３】請求項８記載の海底沈座物体認識装置によ
れば、請求項５記載の海底沈座物体認識装置において、
少なくとも前記送波器および前記受波器は前記海中を移
動するものであり、かつ前記送波器から送波される信号
は進行方向前方の前記海底面に向けて送波されることを
特徴とする。この海底沈座物体認識装置においては、少
なくとも送波器および受波器が海中を移動し、かつ送波
器から送波される信号が進行方向前方の海底面に向けて
送波されるようにしている。According to the apparatus for recognizing a seabed object according to claim 8, in the apparatus for recognizing a seabed object according to claim 5,
At least the wave transmitter and the wave receiver move in the sea, and the signal transmitted from the wave transmitter is transmitted toward the sea bottom in the forward direction. To do. In this submarine sinking object recognition device, at least the transmitter and the receiver move in the sea, and the signal transmitted from the transmitter is transmitted toward the sea bottom in front of the traveling direction. ing.
【００１４】請求項９記載の水中航走体によれば、請求
項５から８のいずれか１項に記載の海底沈座物体認識装
置と、水中を移動するための水中移動手段と、を備えて
なることを特徴とする。この水中航走体においては、海
底面に対象物体が沈座していない場合には、上記相関処
理器によって得られた相関位相に変化が生じない。ま
た、海底面に対象物体が沈座している場合には、上記相
関処理器によって得られた相関位相に変化が生じる。し
たがって、この相関位相の変化を位相判断手段で判別す
ることで、海底面に沈座している対象物体を検出するこ
とができる。たとえば、図３（ｃ）に示すように、２つ
の受波部によって反射音を受信し、信号の相関をとって
相関位相を計算する。相関位相を複数求め、これら相関
位相に変化がある場合は海底面に対象物体が沈座してい
るものと判断し、これら相関位相に変化がない場合は海
底面に対象物体が存在していないものと判断する。According to a ninth aspect of the underwater vehicle, the undersea sinking object recognizing device according to any one of the fifth to eighth aspects and the underwater moving means for moving in water are provided. It is characterized by In this underwater vehicle, when the target object is not seated on the sea bottom, the correlation phase obtained by the correlation processor does not change. Further, when the target object is seated on the sea bottom, the correlation phase obtained by the correlation processor changes. Therefore, by discriminating the change in the correlation phase by the phase discriminating means, it is possible to detect the target object sitting on the sea floor. For example, as shown in FIG. 3C, the reflected sound is received by the two wave receivers, the correlation of the signals is calculated, and the correlation phase is calculated. Obtain multiple correlation phases.If there are changes in these correlation phases, it is determined that the target object is sunk on the sea floor. If there are no changes in these correlation phases, the target object does not exist on the sea floor. Judge that.
【００１５】[0015]
【発明の実施の形態】以下、本発明の実施の形態につい
て、図面を参照しながら説明する。BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings.
【００１６】図１に示すように、海底沈座物体認識装置
１は、送波器２と、２つの受波部３，４と、相関処理器
５と、位相判断手段６とを主たる構成要素とするもので
ある。As shown in FIG. 1, the apparatus 1 for recognizing a submarine object is mainly composed of a wave transmitter 2, two wave receivers 3 and 4, a correlation processor 5, and a phase judging means 6. It is what
【００１７】図１からわかるように、２つの受波部３，
４は相関処理器５と接続され、また相関処理器５は位相
判断手段６と接続されている。言いかえれば、受波部
３，４で受波された信号は、相関処理器５を通って、位
相判断手段６に導かれることとなる。As can be seen from FIG. 1, the two wave receivers 3,
4 is connected to the correlation processor 5, and the correlation processor 5 is connected to the phase determination means 6. In other words, the signals received by the wave receiving units 3 and 4 pass through the correlation processor 5 and are guided to the phase determination means 6.
【００１８】図２に、海底沈座物体認識装置１と、水中
を移動するための水中移動手段７とを備えた水中航走体
８が、水中（ここでは海中）を移動しながら海底面９に
沈座している対象物体１０を検出する様子を概略的に示
す。In FIG. 2, an underwater vehicle 8 equipped with an apparatus 1 for recognizing a submarine sink and an underwater moving means 7 for moving underwater is a bottom surface 9 of the sea while moving in water (here, underwater). A state of detecting the target object 10 sitting on the seat is schematically shown.
【００１９】海中に位置する送波器２は、パルス信号
（超音波）を海中に送波するものである。海底面９に対
して略垂直方向に離間して配置された２つの受波部３，
４は、送波器２から送波された信号が、海底面９あるい
はこの海底面９に沈座する対象物体１０にあたって反射
する反射信号を受波するものである。相関処理器５は、
２つの受波部３，４が受波した信号の相関をとって相関
位相を計算するものである。位相判断手段６は、相関処
理器５で得た相関位相が複数入力され、これら相関位相
に変化が現れる場合には海底面９に対象物体１０が沈座
しているものと判断し、これら相関位相に変化がない場
合には海底面９に対象物体１０は存在していないものと
判断するものである。The wave transmitter 2 located under the sea transmits a pulse signal (ultrasonic wave) into the sea. Two wave receiving portions 3, which are arranged in a direction substantially perpendicular to the sea bottom 9,
Reference numeral 4 is for receiving a reflected signal in which the signal transmitted from the wave transmitter 2 is reflected by the sea bottom 9 or the target object 10 seated on the sea bottom 9. The correlation processor 5 is
The correlation phase is calculated by taking the correlation of the signals received by the two wave receiving units 3 and 4. A plurality of correlation phases obtained by the correlation processor 5 are input to the phase determination means 6, and when changes occur in these correlation phases, it is determined that the target object 10 is sunk on the sea floor 9, and the correlations are calculated. When the phase does not change, it is determined that the target object 10 does not exist on the sea bottom 9.
【００２０】ここで、相関処理器５で相関位相を得るた
めに行っている計算手法について説明する。まず、上側
の受波部３および下側の受波部４のそれぞれで受波した
信号を、
ＳUk＝ＲUk＋ｊＩUk
ＳDk＝ＲDk＋ｊＩDk
とする。ただし、受波部３で受波した信号を直交変調
し、実部をＲU、虚部をＩUとした信号をＳU、受波部４
で受波した信号を直交変調し、実部をＲD、虚部をＩ Dと
した信号をＳDとしている。また、kは受信時刻を示す添
字である。Here, the correlation phase is obtained by the correlation processor 5.
The calculation method used for this purpose will be described. First, the upper side
The wave was received by each of the wave receiving unit 3 and the lower wave receiving unit 4.
Signal
SUk= RUk+ JIUk
SDk= RDk+ JIDk
And However, the signal received by the wave receiving unit 3 is quadrature-modulated.
And the real part is RU, The imaginary part is IUSignal isU, Wave receiver 4
The signal received by is quadrature-modulated and the real part is RD, The imaginary part is I DWhen
S signalDI am trying. Also, k is an index indicating the reception time.
It is a letter.
【００２１】これら２つの信号の相関は以下の数１のよ
うに与えられる（相関計算）。The correlation between these two signals is given by the following equation 1 (correlation calculation).
【００２２】[0022]
【数１】 [Equation 1]
【００２３】この数１を時間で積分する（積分計算）。This equation 1 is integrated over time (integral calculation).
【００２４】[0024]
【数２】 [Equation 2]
【００２５】相関振幅および相関位相は以下の数３（振
幅計算）および数４（位相計算）のようになる。The correlation amplitude and the correlation phase are given by the following equations 3 (amplitude calculation) and 4 (phase calculation).
【００２６】[0026]
【数３】 [Equation 3]
【００２７】[0027]
【数４】 [Equation 4]
【００２８】上記数３および数４の結果をグラフにした
ものが、図３（ｂ）および図３（ｃ）である。図３
（ｂ）の縦軸および横軸はそれぞれ振幅レベル（dB）お
よび時間（sec）を、図３（ｃ）の縦軸および横軸はそ
れぞれ相関位相（゜）および時間（sec）を示してい
る。また、図３の（ａ）は時間とともに変化する受信音
レベルの変化を示すグラフである。Graphs of the results of the expressions 3 and 4 are shown in FIGS. 3 (b) and 3 (c). Figure 3
The vertical axis and horizontal axis of (b) show amplitude level (dB) and time (sec), respectively, and the vertical axis and horizontal axis of FIG. 3 (c) show correlation phase (°) and time (sec), respectively. . Further, FIG. 3A is a graph showing changes in the received sound level that change with time.
【００２９】図３（ｃ）における22.8秒付近に、対象物
体による相関位相の変化を見ることができる。すなわ
ち、このような相関位相の変化により海底面に沈座する
対象物体を検出することができる。また、この相関位相
の変化により、対象物体の大きさ（たとえば、図２にお
ける対象物体１０の高さＨ）も検出することができる。
対称物体１０の高さＨを求める方法については後述する
ことにする。A change in the correlation phase due to the target object can be seen near 22.8 seconds in FIG. 3 (c). That is, it is possible to detect the target object that is seated on the sea bottom by such a change in the correlation phase. Further, the size of the target object (for example, the height H of the target object 10 in FIG. 2) can also be detected by the change in the correlation phase.
A method for obtaining the height H of the symmetrical object 10 will be described later.
【００３０】上述したように、相関位相は各受波部３，
４で受波した信号をそれぞれ直交変調した後、相関計
算、積分計算、および位相計算して求めることができ
る。また、相関位相は、このような計算方法の他に、つ
ぎのようにしても求めることができる。As described above, the correlation phase is determined by each receiving unit 3,
Each of the signals received in 4 is orthogonally modulated, and then the correlation calculation, the integration calculation, and the phase calculation can be performed. Further, the correlation phase can be obtained as follows in addition to such a calculation method.
【００３１】上側の受波部３および下側の受波部４のそ
れぞれで受波した信号を、
ＳUk＝ＲUk＋ｊＩUk
ＳDk＝ＲDk＋ｊＩDk
とするところまでは上述した通りである。The signal received by each of the upper wave receiving unit 3 and the lower wave receiving unit 4 is as described above until S Uk = R Uk + jI Uk S Dk = R Dk + jI Dk. .
【００３２】つぎに、これらの式から各受波部３，４で
の位相を求め、これらの差をとったものが以下の数５で
ある。Next, the phase at each of the wave receivers 3 and 4 is obtained from these equations, and the difference between them is given by the following equation 5.
【００３３】[0033]
【数５】 [Equation 5]
【００３４】このように相関位相は、各受波部で受波し
た信号をそれぞれ直交変調した後、それぞれの位相を求
め、これら位相の差として求めることもできる。この結
果をグラフにした場合も、図３（ｃ）のものと同様にな
り、海底面に沈座する対象物体を容易に検出することが
できる。As described above, the correlation phase can also be obtained as the difference between these phases after the signals received by the respective wave receiving sections are subjected to quadrature modulation and then the respective phases are obtained. The graph of this result is similar to that of FIG. 3C, and the target object sitting on the sea floor can be easily detected.
【００３５】つぎに、前述した対称物体１０の高さＨの
求め方について説明する。まず、図４を参照されたい。
上側の受波部３から対称物体１０までの距離をＲ1、下
側の受波部４から対称物体１０までの距離をＲ2とす
る。これらＲ1およびＲ2は、送波器２から送波された信
号が対称物体１０にあたって反射され、その反射された
反射信号が受波器３，４に到達するまでのそれぞれの所
要時間を計測することによって簡単に求めることができ
る。Next, a method of obtaining the height H of the symmetrical object 10 described above will be described. First, please refer to FIG.
The distance from the upper wave receiving unit 3 to the symmetrical object 10 is R1, and the distance from the lower wave receiving unit 4 to the symmetrical object 10 is R2. These R1 and R2 measure the time required for the signal transmitted from the wave transmitter 2 to be reflected by the symmetric object 10 and for the reflected signal to reach the wave receivers 3 and 4, respectively. Can be easily obtained by.
【００３６】また、φkは上述した数４または数５から
求めることができる。これらＲ1、Ｒ2、およびφkを、
Ｌ2＝Ｒ12＋Ｒ22−２Ｒ1Ｒ2 Cos（φk）の式、すなわち
第２余弦定理の式に代入することにより対称物体１０の
おおよその高さＨを求めることができる。Further, φ k can be obtained from the equation 4 or the equation 5 described above. These R1, R2, and φ k are
The approximate height H of the symmetric object 10 can be obtained by substituting it into the formula of L 2 = R1 2 + R2 2 -2R1R2 Cos (φ k ), that is, the formula of the second cosine theorem.
【００３７】なお、少なくとも送波器２および受波器
３，４は海中を移動するものであり、送波器２から送波
される信号はこれら送波器２および受波器３，４の進行
方向前方の海底面９に向けて送波されることが望まし
い。At least the wave transmitter 2 and the wave receivers 3 and 4 move in the sea, and the signal transmitted from the wave transmitter 2 is one of the wave transmitters 2 and the wave receivers 3 and 4. It is desirable that the wave is transmitted toward the sea bottom 9 in the forward direction.
【００３８】[0038]
【発明の効果】以上説明したように、本発明では相関位
相の変化に基づいて対象物体を検出するので、対象物体
が海底面に沈座している場合でも的確に発見することが
できる。また、相関位相の変化の大きさに基づいて、対
象物体の大きさを推測することができる。As described above, according to the present invention, the target object is detected based on the change in the correlation phase, so that the target object can be accurately detected even when it is seated on the sea floor. Further, the size of the target object can be estimated based on the magnitude of the change in the correlation phase.
【図１】 本発明による海底沈座物体認識装置の概略構
成図である。FIG. 1 is a schematic configuration diagram of a seabed sinking object recognition device according to the present invention.
【図２】 本発明による海底沈座物体認識装置を備えた
水中航走体が海中を移動しながら海底面に沈座する対象
物体を検出する様子を概略的に示す概略図である。FIG. 2 is a schematic view schematically showing how an underwater vehicle equipped with a device for recognizing a submarine sink object according to the present invention detects an object to be seated on the bottom of the sea while moving in the sea.
【図３】 本発明の海底沈座物体認識装置によって得ら
れた結果を示すものであって、（ａ）は時間とともに変
化する受信音レベルの変化、（ｂ）は（ａ）のデータか
ら得た相関振幅、（ｃ）は（ａ）のデータから得た相関
位相を示すグラフである。3A and 3B show results obtained by the apparatus for recognizing a seabed object according to the present invention, where FIG. 3A is a change in received sound level that changes with time, and FIG. 3B is obtained from the data in FIG. And (c) is a graph showing the correlation phase obtained from the data of (a).
【図４】 図２と同様の図であり、対称物体の高さを求
める方法を説明するための図である。FIG. 4 is a diagram similar to FIG. 2, and is a diagram for explaining a method for obtaining the height of a symmetrical object.
【図５】 従来の海底沈座物体認識装置によって得られ
た結果を示すものであって、（ａ）は時間とともに変化
する受信音レベルの変化、（ｂ）は（ａ）の受信音レベ
ルを周波数分析した後の結果を示すグラフである。5A and 5B show results obtained by a conventional apparatus for recognizing a seabed object, where FIG. 5A shows a change in received sound level that changes with time, and FIG. 5B shows a received sound level in FIG. It is a graph which shows the result after performing a frequency analysis.
１ 海底沈座物体認識装置 ２ 送波器 ３ 受波部 ４ 受波部 ５ 相関処理器 ６ 位相判断手段 ７ 水中移動手段 ８ 水中航走体 ９ 海底面 １０ 対象物体 1 Submarine sink object recognition device 2 wave transmitter 3 Wave receiver 4 Wave receiver 5 Correlation processor 6 Phase determination means 7 Underwater transportation 8 underwater vehicle 9 Sea bottom 10 target object
Claims (9)
れた信号が、海底面あるいは該海底面に沈座する対象物
体にあたって反射する反射信号を、離間して配置された
２つの受波部で受波し、これら受波部で受波した信号の
相関をとって相関位相を計算した後、前記計算によって
得られた複数の相関位相を比較して、これら相関位相に
変化が現れる場合には前記海底面に対象物体が沈座して
いるものと判断し、これら相関位相に変化がない場合に
は前記海底面に対象物体が存在していないものと判断す
ることを特徴とする海底沈座物体認識方法。1. A signal which is transmitted from a wave transmitter in the sea, and the transmitted signal is separated from a reflected signal which is reflected by the sea bottom or a target object seated on the sea bottom. Waves are received by two wave receivers, the correlation phases of the signals received by these wave receivers are calculated to calculate the correlation phase, and then the multiple correlation phases obtained by the above calculation are compared to change to these correlation phases. When it appears, it is determined that the target object is sunk on the seabed, and when there is no change in these correlation phases, it is determined that the target object does not exist on the seabed. Submarine sink object recognition method.
おいて、 前記相関位相は、各受波部で受波した信号をそれぞれ直
交変調した後、相関計算、積分計算、および位相計算し
て求められたものであることを特徴とする海底沈座物体
認識方法。2. The method for recognizing a seabed object according to claim 1, wherein the correlation phase is obtained by performing a quadrature modulation on a signal received by each receiving unit, and then performing a correlation calculation, an integral calculation, and a phase calculation. A method for recognizing a submarine sinking object characterized by being obtained.
おいて、 前記相関位相は、各受波部で受波した信号をそれぞれ直
交変調した後、それぞれの位相を求め、これら位相の差
として求められたものであることを特徴とする海底沈座
物体認識方法。3. The method for recognizing a seabed object according to claim 1, wherein the correlation phase is obtained by quadrature-modulating the signals received by the respective wave-receiving sections and then obtaining the respective phases. A method for recognizing a submarine sinking object characterized by being obtained.
おいて、 少なくとも前記送波器および前記受波器は前記海中を移
動するものであり、かつ前記送波器から送波される信号
は進行方向前方の前記海底面に向けて送波されることを
特徴とする海底沈座物体認識方法。4. The method for recognizing a seabed object according to claim 1, wherein at least the transmitter and the receiver move in the sea, and a signal transmitted from the transmitter is A method for recognizing a submarine sinking object, characterized in that the wave is transmitted toward the sea bottom in the forward direction.
送波された信号が、海底面あるいは該海底面に沈座する
対象物体にあたって反射する反射信号を受波し、かつ離
間して配置された２つの受波部と、これら受波部が受波
した信号の相関をとって相関位相を計算する相関処理器
と、前記相関位相が複数入力され、これら相関位相に変
化が現れる場合には海底面に対象物体が沈座しているも
のと判断し、前記相関位相に変化がない場合には海底面
に対象物体は存在していないものと判断する位相判断手
段と、を備えることを特徴とする海底沈座物体認識装
置。5. A wave transmitter located in the sea, and a signal transmitted from the wave receiver receives and separates a reflected signal reflected by the sea bottom or a target object seated on the sea bottom. And two wave receiving sections arranged in parallel, a correlation processor that calculates the correlation phase by correlating the signals received by these wave receiving sections, and a plurality of the correlation phases are input, and a change occurs in these correlation phases. If it appears, it is determined that the target object is sunk on the sea floor, and if there is no change in the correlation phase, the phase determination means that determines that the target object does not exist on the sea floor. An apparatus for recognizing an object sitting on the seabed, comprising:
おいて、 前記相関位相は、各受波部で受波した信号をそれぞれ直
交変調した後、相関計算、積分計算、および位相計算し
て求められたものであることを特徴とする海底沈座物体
認識装置。6. The submarine sink object recognizing apparatus according to claim 5, wherein the correlation phase is obtained by performing a correlation calculation, an integral calculation, and a phase calculation after quadrature-modulating the signals received by the respective receiving units. An apparatus for recognizing a submarine sink object characterized by being obtained.
おいて、 前記相関位相は、各受波部で受波した信号をそれぞれ直
交変調した後、それぞれの位相を求め、これら位相の差
として求められたものであることを特徴とする海底沈座
物体認識装置。7. The apparatus for recognizing a seabed object according to claim 5, wherein the correlation phase is obtained by quadrature-modulating the signals received by the respective wave-receiving sections and then obtaining the respective phases. An apparatus for recognizing a submarine sink object characterized by being obtained.
おいて、 少なくとも前記送波器および前記受波器は前記海中を移
動するものであり、かつ前記送波器から送波される信号
は進行方向前方の前記海底面に向けて送波されることを
特徴とする海底沈座物体認識装置。8. The apparatus for recognizing a seabed object according to claim 5, wherein at least the transmitter and the receiver move in the sea, and a signal transmitted from the transmitter is An apparatus for recognizing a submarine sink object, characterized in that the wave is transmitted toward the sea bottom in the forward direction.
海底沈座物体認識装置と、 水中を移動するための水中移動手段と、を備えてなるこ
とを特徴とする水中航走体。9. An underwater vehicle comprising the undersea sinking object recognition device according to claim 5 and an underwater moving means for moving underwater. .
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001214322A JP2003028958A (en) | 2001-07-13 | 2001-07-13 | Method and apparatus for recognizing a submerged underwater object, and an underwater vehicle equipped with the apparatus |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2001214322A JP2003028958A (en) | 2001-07-13 | 2001-07-13 | Method and apparatus for recognizing a submerged underwater object, and an underwater vehicle equipped with the apparatus |
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| Publication Number | Publication Date |
|---|---|
| JP2003028958A true JP2003028958A (en) | 2003-01-29 |
Family
ID=19049163
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2001214322A Pending JP2003028958A (en) | 2001-07-13 | 2001-07-13 | Method and apparatus for recognizing a submerged underwater object, and an underwater vehicle equipped with the apparatus |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013011475A (en) * | 2011-06-28 | 2013-01-17 | Nec Network & Sensor Systems Ltd | System, method, and program for acoustic image generation |
| GB2521681A (en) * | 2013-12-31 | 2015-07-01 | Sonardyne Internat Ltd | Underwater leak detection apparatus, underwater leak detection system and method of detecting an underwater leak of a fluid |
| CN114476585A (en) * | 2022-03-15 | 2022-05-13 | 英特尔产品（成都）有限公司 | Presence detection device |
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| JPH08160126A (en) * | 1994-12-09 | 1996-06-21 | Nec Eng Ltd | Sonar receiver |
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| JPS6352346B2 (en) * | 1982-10-18 | 1988-10-18 | Boeicho Gijutsu Kenkyu Honbucho | |
| JPH0731042A (en) * | 1993-07-08 | 1995-01-31 | Fujikura Ltd | How to lay a submarine cable |
| JPH08160126A (en) * | 1994-12-09 | 1996-06-21 | Nec Eng Ltd | Sonar receiver |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013011475A (en) * | 2011-06-28 | 2013-01-17 | Nec Network & Sensor Systems Ltd | System, method, and program for acoustic image generation |
| GB2521681A (en) * | 2013-12-31 | 2015-07-01 | Sonardyne Internat Ltd | Underwater leak detection apparatus, underwater leak detection system and method of detecting an underwater leak of a fluid |
| GB2521681B (en) * | 2013-12-31 | 2017-08-16 | Sonardyne Int Ltd | Underwater leak detection apparatus, underwater leak detection system and method of detecting an underwater leak of a fluid |
| CN114476585A (en) * | 2022-03-15 | 2022-05-13 | 英特尔产品（成都）有限公司 | Presence detection device |
| CN114476585B (en) * | 2022-03-15 | 2023-12-15 | 英特尔产品（成都）有限公司 | Presence detection device |
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