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UNDERWATER SAILING BOODY GUIDANCE SYSTEM, INDIVIDUAL SAILING BODY, UNDERWATER SAILING CONTROL METHOD THEREFOR, AND CONTROL PROGRAM THEREFOR
UNDERWATER SAILING BOODY GUIDANCE SYSTEM, INDIVIDUAL SAILING BODY, UNDERWATER SAILING CONTROL METHOD THEREFOR, AND CONTROL PROGRAM THEREFOR
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机译：水下航行身体指导系统，个体航行身体，水下航行控制方法及其控制程序
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摘要
PROBLEM TO BE SOLVED: To provide an underwater sailing body guidance system designed for effectively homing, by acoustic means, an underwater sailing toward a preset target.SOLUTION: The underwater sailing body guidance system is provided with one individual sailing body 2 sailing underwater toward a target M while being successively guided by two ultrasonic guidance signals S1, S2 differing in frequency and a main sailing body 1 for emitting first and second ultrasonic guidance signals S1, S2. The one guidance signal S1 uses a low-frequency non-directional ultrasonic wave, and the other guidance signal S2 emits a high-frequency ultrasonic wave toward the target M. The aforementioned one individual sailing body 2 is provided with a first underwater sailing execution function for receiving the one guidance signal S1 and sailing in a direction in which the received sound pressure increases and a second underwater sailing execution function for switching, when the received sound pressure level of the guidance signal S1 rises to or above a reference value, the sailing direction toward the other guidance signal S2 which is a reflection from the target M and executing underwater sailing in the changed direction.
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