| 摘要 |
PROBLEM TO BE SOLVED: To enable automatic docking by improving the positioning accuracy of the position of an underwater station. SOLUTION: An autonomous unmanned submersible is equipped with an inertial navigation device 3 capable of detecting a self-position on a virtual fixed coordinate by inertial navigation, a sound positioning device 4 capable of detecting a relative distance and a direction from the self-position of a transponder 23 installed on the underwater station 20 by the sound positioning, and an autonomous navigation control device 5 which calculates a position on the fixed coordinate of the transponder 23 by combining the relative distance and the direction of the transponder 23 detected by the sound positioning device 4 with respect to the self-position on the fixed coordinate grasped by the inertial navigation device 3. COPYRIGHT: (C)2007,JPO&INPIT
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