| 摘要 |
PROBLEM TO BE SOLVED: To reduce the amount of the positional error contained in the position of an underwater sailing body measured by means of an underwater position measuring instrument. SOLUTION: An underwater position measuring instrument is provided with an acoustic position calculating means 19 which calculates the amount of the positioning error contained in the position of an underwater sailing body acoustically measured from the acoustically measured position of the sailing body, direction measurement accuracy, distance measurement accuracy, and the shaking of the sailing body; an amount-of-error calculating means 20 which calculates the positioning error of the active sonar of a ship from the accuracy of the position of the sailing body and the azimuth and distance to the body measured by means of the active sonar and the shaking of the sailing body; and an estimated position calculating means 21 which calculates the position and the amount of positioning error of the sailing body by dead reckoning of the sailing body from the course and speed of the sailing body. The measuring instrument is also provided with a calculating means which calculates the position of the sailing body from the calculated positions of a plurality of sailing bodies and the amount of the positioning error to calculate the weight mean value of the position of the sailing body.
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