DSSS通信を伴うAUVのSSBL音響測位について

摘要

Recently precious observations of the sea bottom have been implemented in the world. An AUV is typically navigated by an INS equipped. Although INS accurately estimates the transfer distance with in short time, the problem is the drift error. On the other hand acoustic positioning methods, LBL or SSBL, are applied for underwater positioning. The acoustic positioning is absolute positioning and used to AUV navigation too. In this study a proposed method that is integrated the SSBL and INS is invited. INS data is included in the acoustic signal for SSBL and transmitted with DSSS technique. And the SSBL and INS are integrated in the support vessel. The proposed method was evaluated with simulation and ocean experiment, and good results were obtained.%近年AUVの活躍により海底の精密探査が行われ始めている．AUVは一般に，INSによって自己の位置を推定している．INSは短時間の移動量は非常に高精度で推定できるが，ドリフト誤差が問題となる．一方，従来海中では音響による測位が行われてきた．音響測位は常に絶対測位であり，AUVのナビゲーションにおいてもLBL，SSBなどの手法が活用される．本研究では，SSBL音響測位の音波信号とともにAUV内で測定したINSの出力結果をDSSS技術を用いて送信し，SSBLでの測位結果と母船で受信したINSのデータを統合してより高精度なAUVの測位を行う手法を提案している．提案手法はシミュレーションと実海域実験によって検証され，良い結果を得た．