To provide an underwater navigation system capable of maintaining the state that an underwater cruising body faces an inspection object.SOLUTION: A maneuvering auxiliary computer 60 detects a reference linear image in a reference image including a distribution map of a measured result by a sonar 21 as a reference line segment, and then detects the linear image of a comparison object in a comparison object image including the distribution map as the line segment of the comparison object, calculates a difference between the reference line segment and the line segment of the comparison object, and commands the control unit 22 to correct control of a propeller 15 according to a signal of a maneuvering device 40 based on the difference.SELECTED DRAWING: Figure 2
【課題】水中潜行体が検査対象物に対して正対した状態を維持する。【解決手段】操縦補助コンピュータ60が、ソナー21の測定結果たる分布図を含む基準画像中の基準の線状の像を基準の線分として検出し、その後の分布図を含む比較対象画像中の比較対象の線状の像を比較対象の線分として検出し、前記基準の線分と前記比較対象の線分との差分を算出し、操縦器40の信号に従った推進機15の制御を差分に基づき補正するよう制御ユニット22に指令する。【選択図】図2
UNDERWATER NAVIGATION SYSTEM, MANEUVERING AUXILIARY DEVICE, AND PROGRAM
水中潜行システム、操縦補助装置及びプログラム
2022-12-02
Patent
Electronic Resource
Japanese
MANEUVERING SYSTEM, MANEUVERING DEVICE, MANEUVERING CONTROL METHOD, AND PROGRAM
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