METHOD, APPARATUS AND PROGRAM FOR POSITIONING OF UNDERWATER VEHICLE, SYSTEM FOR MEASURING POSITION OF UNDERWATER VEHICLE

摘要

A method of measuring the positions of a plurality of underwater vehicles performed by a positioning device communicating with a plurality of receivers according to an embodiment of the present invention includes a first underwater vehicle identification number among the plurality of underwater vehicles transmitting an interrogation signal; Receiving at least three first arrival signals respectively transmitted by at least three receivers among the plurality of receivers, wherein the first arrival signal is output by the first underwater vehicle in response to the first interrogation signal including time information received by a receiver corresponding to the response signal, and location information of the receiver; determining a position of the first underwater vehicle based on the at least three first arrival signals; transmitting a second question signal including an identification number of a second underwater vehicle among the plurality of underwater vehicles; Receiving at least three second arrival signals each transmitted by at least three of the plurality of receivers, wherein the second arrival signal is a second arrival signal output by the second underwater vehicle in response to the second interrogation signal including time information received by a receiver corresponding to the response signal, and location information of the receiver; and determining a position of the second underwater vehicle based on the at least three second arrival signals.