| 摘要 |
PROBLEM TO BE SOLVED: To precisely perform calibration also for an underwater vehicle operated in a narrow region. SOLUTION: For the underwater vehicle operated in a water tank 22, position detection paths 23a, 23b are parallel to a short-side 22a and a long side 22b of the water tank 22 so that the position detection paths are set long. When the underwater vehicle is driven along each of the position detection paths 23a, 23b, on the basis of an inertia navigation position detected by the underwater vehicle itself, acoustic positioning is performed from a support ship side a plurality of times. For each position detection paths 23a, 23b, representative values in directions orthogonal to each other are obtained, regarding the obtained acoustic positioning position D4 and the inertia navigation position. As the difference between the obtained both representative values, each of variationsδx andδy of the inertia navigation position, relative to the direction orthogonal to each position detection paths 23a, 23b, is obtained. The inertial navigation position positioned by the underwater vehicle itself is calibrated by the variationsδx andδy. COPYRIGHT: (C)2011,JPO&INPIT |
