| 摘要 |
PROBLEM TO BE SOLVED: To improve the precision of a picture image picked up by an acoustic sonar of an AUV. SOLUTION: Rudders 1 to 4 are respectively provided in the front and the rear of the AUV 100 and in up/down and left/right directions, and orientation control and course control of the AUV 100 are simultaneously carried out in controlling these rudders 1 to 4. Additionally, the orientation is hard to tilt as an influence of a tidal current is equally received in the front and the rear of a hull by providing the rudders 1 to 4 in the front and the rear. Consequently, it is possible to change or maintain the course while holding the orientation of the AUV 100, to constantly direct the beam direction of the acoustic sonar 7 of the AUV 100 in a desired direction and to improve precision of the picked-up picture image. COPYRIGHT: (C)2005,JPO&NCIPI
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