Way of turning during the formation navigation and its formation

摘要

PROBLEM TO BE SOLVED: To provide a turning method at quick formation navigation in which a formation shape is not confused, and its formation.;SOLUTION: After linear navigation routes a1-d1 parallel to each other are navigated to one end while a plurality of underwater navigation bodies 1-5 maintain a mutual distance to a constant degree, the respective underwater navigation bodies 1-5 start to be turned from one end of the navigated linear navigation routes a1-d1 while they shorten the mutual distance. Thereafter, during the time when they arrive at one end of the new linear navigation route parallel to the linear navigation routes a1-d1 after the mutual distance is shortened to the minimum, the respective underwater navigation bodies 1-5 enlarge the mutual distance until it is returned to an original constant mutual distance to finish the turning, and they navigate on the new linear navigation route while maintaining the constant mutual distance.;COPYRIGHT: (C)2009,JPO&INPIT