UNDERWATER SEARCHING DEVICE USING SUBMARINE AND THE LIKE AND UNDERWATER NAVIGATION FOR SUBMARINE AND THE LIKE

摘要

PURPOSE: To provide an underwater searching device which can return to an original point even in the case where a submarine, etc., cruises underwater over a long distance without surfacing on the way, and an underwater navigation method for the submarine, etc. CONSTITUTION: Transponders TA, TB, TC are thrown down, and calibration is executed, and the correct position information of the submarine in a surfacing state is measured and recorded. Next, an underwater cruise and a cruise are started by inertial navigation by making this position a point P0 . The transponders T1 to T9 are thrown down from the submarine 1 at the points P1 ,...P9 at every cruise of about 100km. The submarine having arrived at the point P10 of the final destination changes its direction by 180 deg., and cruises by the inertial navigation as keeping this direction. At the point of time when it arrives within a range where the acoustic wave of the transponder T9 which the submarine 1 laid at the point P9 after the cruise of prescribed time, the cruise is changed to the cruise based on acoustic navigation. By repeating the inertial navigation and the acoustic navigation in this way, the submarine 1 returns to a starting point P0 .