VEHICLE UNIT AND MOVEMENT CONTROL METHOD FOR VEHICLE UNIT

To efficiently control controlling of relative positions of a multiple number of vehicles navigating in water.SOLUTION: A vehicle unit is provided with: a leader including a first housing, a first inertia navigation device, a sound wave generator device, a first altitude measurement unit, a position information detection device, a first control device for storing information of a movement path and traveling in water; and at least one follower including; a second housing, a second inertia navigation device, a receiver receiving sound waves outputted from the sound wave generator device, a second altitude measurement device, and a second control device for storing information of a three dimensional relative position relative to the leader and traveling in water. The first control device has sound waves outputted from the sound wave generator device, the second control device calculates the relative position relative to the leader based on the sound waves received by the receiver, and moves the follower by controlling the second inertia navigation device based on a position in the height direction detected by the second altitude measurement device and the relative position relative to the leader.SELECTED DRAWING: Figure 1 【課題】水中を航行する多数のビークルの相対位置の制御を効率よく制御できること。【解決手段】第１筐体と、第１慣性航法装置と、音波発生装置と、第１高度計測部と、位置情報検出装置と、移動経路の情報を記憶する第１制御装置と、を含み水中を移動するリーダー機と、第２筐体と、第２慣性航法装置と、音波発生装置から出力される音波を受信する受信装置と、第２高度計測部と、リーダー機との３次元の相対位置の情報を記憶する第２制御装置と、を含み、水中を移動する少なくとも１つのフォロワー機と、を備え、第１制御装置は、音波発生装置から音波を出力させ、第２制御装置は、受信装置で受信した音波に基づいてリーダー機との相対位置を算出し、第２高度計測部で検出した高さ方向の位置及びリーダー機との相対位置に基づいて第２慣性航法装置を制御してフォロワー機を移動させる。【選択図】図１