| 摘要 |
PROBLEM TO BE SOLVED: To calculate various types of detailed data with respect to a detection object with high accuracy.SOLUTION: An underwater detection device 10 comprises an arithmetic processing part 11 and an attitude detection part 20. The arithmetic processing part 11 performs transmission control of an ultrasonic signal from an echo sounder transducer 100 and calculates an observation vector xxof a single fish with a hull coordinate system being a relative coordinate system on the basis of the echo signal of each channel of the echo sounder transducer 100. The attitude detection part 20 detects the attitude angle of the echo sounder transducer 100 to output it to an echo signal analysis part 14 of the arithmetic processing part 11. The echo signal analysis part 14 decides a coordinate conversion matrix Aon the basis of the attitude angle and converts the observation vector xxinto an observation vector XXwith an absolute stationary coordinate system by using the coordinate conversion matrix A. The echo signal analysis part 14 calculates a velocity vector and an observation incident angle on the basis of the observation vector XXwith the absolute stationary coordinate system. |
