PROBLEM TO BE SOLVED: To predict and display the movement range of an underwater mobile object based on the operation of an operation terminal.SOLUTION: A remote operation apparatus 2 comprises an operation terminal 6, a calculation part 7, and a display 8. After receiving a state quantity A detected by a state quantity detection part 3 of an underwater mobile object 1 and an operation value B set by the operation terminal 6, the calculation part 7 obtains a state quantity matrix on the basis of a state transition equation of the underwater movable object 1, the current state quantity, and a command value for a mobile device of the underwater movable object 1 based on the operation value B. The calculation part 7 obtains an error variance matrix on the basis of a partial differential matrix of the state transition equation and process noise which indicates the uncertainty of the state quantity of the underwater mobile object 1, then obtains an eigen value and eigen vector from which a position component is extracted. The display part 8 displays on a display 10 a predicted orbit 12 which connects the state quantity of the underwater mobile object 1 in each step and an elliptical movement range 11 obtained from the eigen value and eigen vector.SELECTED DRAWING: Figure 1

    【課題】 操作端末の操作に基づく水中移動体の移動範囲を予測して表示する。【解決手段】 遠隔操作装置2は、操作端末6と計算部7と表示部8を備える。計算部7は、水中移動体1の状態量検出部3で検出された状態量Aと、操作端末6で設定された操作値Bを受け取ると、水中移動体1の状態遷移方程式と、現在の状態量と、操作値Bに基づく水中移動体1の移動装置に対する指令値とを基に、状態量行列を求める。計算部7は、状態遷移方程式の偏微分行列と、水中移動体1の状態量の不確かさを示すプロセスノイズとを基に、誤差分散行列を求め、その位置成分を抜き出した行列の固有値と、固有ベクトルを求める。表示部8は、ディスプレイ10に、ステップごとの水中移動体1の状態量を結んだ予測軌道12と、固有値および固有ベクトルとから求まる楕円形状の移動範囲11を表示する。【選択図】図1


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    Title :

    MOVEMENT PREDICTION METHOD AND MOVEMENT PREDICTION SYSTEM FOR MOBILE OBJECT


    Additional title:

    移動体の移動予測方法および移動予測システム


    Contributors:

    Publication date :

    2018-10-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen



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