水中音響測位は遠隔操作型無人探査機(ROV)や自律型無人潜水機 (AUV)の海中位置を知るために用いられる．USBL(Ultra Short Baseline)方式は送信機から受信機に到達する音波の伝搬時間を計測し，距離推定や到来方向推定が行われる．本研究では複数音源信号による多点同時計測を行う方法について検討し，シミュレーションおよび試験評価を行ったので報告する．音波反射がある環境では整合フィルタ (MF) 法よりもインパルス応答一般化相互相関関数(IR-GCC-PHAT)法のほうが高い測位精度を示した．
（英）
Underwater acoustic localization is used to know underwater positions in remotely operated vehicles (ROVs) and autonomous underwater vehicles (AUVs). The ultra-short base-line (USBL) method measures a propagation time of sound wave from a transmitter to a receiver, where distance estimation and direction of arrival (DOA) estimation are performed. In this study, multiple point simultaneous measurement methods with multiple sound source signals are studied and evaluated by simulation and experiment. In the sound-wave reflective environment, the impulse response based generalized cross-correlation function method (IR-GCC-PHAT) showed higher positioning accuracy than the matched filter (MF) method.