EMISSION RECOVERY SYSTEM FOR UNDERWARTER TRAVELING BODY, AND MARINE VESSEL PROVIDED WITH EMISSION RECOVERY SYSTEM

摘要

PROBLEM TO BE SOLVED: To safely perform emission recovery of an underwater traveling body in a small size marine vessel.;SOLUTION: The marine vessel is provided with the underwater traveling body 5 travelable in underwater; an emission recovery cage 3 for emitting or storing the underwater traveling body 5 in underwater; and pingers P1, P2, P3, P4 arranged in the emission recovery cage 3 and emitting a guide signal for guiding the underwater traveling body 5. On the underwater traveling body 5, a hydrophone 23 for receiving the guide signal emitted from the pingers P1, P2, P3, P4; a position attitude measurement part for measuring a position and attitude of the emission recovery cage 3 based on the signal from the hydrophone 23; and an attitude control part for controlling the attitude of the underwater traveling body 5 while fitted to the attitude of the emission recovery cage 3 measured by the position attitude measurement part.;COPYRIGHT: (C)2009,JPO&INPIT