UNDERWATER SAILING BODY DETECTOR AND METHOD OF DETECTING UNDERWATER SAILING BODY

摘要

PROBLEM TO BE SOLVED: To efficiently detect an underwater sailing body staying on the sea bed.SOLUTION: An acoustic sensor 100 transmits probe signals WA in the water at a predetermined angle of elevationθor less with respect to a plane HS in a direction generally perpendicular to a vertical direction VL as a reference. The acoustic sensor 100 receives acoustic echoes WB which are generated when probe signals WA hit a protruding matter on the sea bed including an underwater sailing body 500 stayed on the sea bed. A water depth direction distance adjustment section 253 adjusts so that the water depth direction distance VD between the acoustic sensor 100 and the sea bed 600 is within a preset predetermined water depth direction distance. A coming direction calculation section 231 calculates the coming direction S of the acoustic echoes WB. A horizontal direction distance calculation section 232 calculates the horizontal direction distance HD between the acoustic echoes WB and the acoustic sensor 100 with respect to the coming direction S. An underwater sailing body detector 1000 detects the underwater sailing body 500 based on the coming direction S and the horizontal direction distance HD.