全体報告書校正用.doc

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たみじろうめいこ
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8 WG ) 1/2 Kg4.5Kg 2) 3) 4) LAN 15 1) RLG 4

9 RLG RLG RLG ASIC RLG RLG RLG 3-1 5

10 RLG RLG RLG ) RLG 3) 6

11 14 (40W) 20W (0.8AH) 750g 3.0Kg 7.5Kg 1.0H 4) ZUPT/CUPT (Zero Velocity Update)/(Coordinate Update)P13 5) 14 ZUPT ( ) ZUPT CUPT

12 3-3 IMU(Inertial Measurement Unit)T-16B RLG IMU ( ) ( ) CPU SH-4 ZUPT/CUPT CPU SIOSerial Input / Output IMU 8

13 T-16B IMU MRLG ACC IMU MPU SIO0 SRAM 15V,5V FRASH D/A PCMCIARS232C PC MRLG LAN IMU V/F

16 Hz 1) ( ) 2) 12

17 3) 4) / 5) ( ) 6) 7) 8) 9) 10) ( ) 11) 12) 1) ZUPT 2) CUPT 13

18 (MRLGMonolithic Ring Laser Gyro)( ) deg/h 0.2 deg/h 150 ppm deg/h 150 ppm 0.05 deg/h 3-6.Monolithic Ring Laser Gyro 3-2. (1) G 300 G 300 ppm 300 ppm 14

19 ) 2) ( ) 3) 15

20 SH

21 ( ) GPS Km 14 ( ) 14 ZUPT/CUPT ZUPT

22 4-1. () RMS

23 () ZUPT 20 (28) ZUPT () () ZUPT

24 ZUPT ZUPT

25 1) 9Kg 4Kg 20cm35cm12cm 12cm12cm15cm 2) 3) 14 4) 1) ZUPT ZUPT 2) ZUPT ZUPT 3) 4) LAN ( ) 5) 1) 2) 3) 4) 5) INS/DGPS/VMS Integration In-Motion Alignment 21

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43 FiReCOS FiReCOS Fire fighting and Rescue Communication System FiReCOS FiReCOS FiReCOS PHS CS 39

44 LAN RJ Mbps 100Base-TX LAN (WLAN) RF ( ) IEEE (Institute of Electrical and Electronics Engineers) IEEE WLAN LAN (TCP/IP ) WLAN.- LAN b g a DSSS ( OFDM ( OFDM ( ) ) ) 2.4GHz 2.4GHz 5GHz 11,5,,2,1(Mbps) 54,48,36,24,18,12,9,6 54,48,36,24,18,12,9,6 (Mbps) (Mbps) ( 4) 11MBps30m 1 1Mbps91m 54MBps30m 6Mbps91m 54MBps12m 6Mbps91m 11MBps120m 54MBps120m 54MBps30m ( )1, 1Mbps460m 6Mbps460m 6Mbps305m IEEE802.11b Wi-Fi IEEE802.11b Wi-Fi IEEE802.11b Wi-Fi LAN 40

45 DSL(Digital Subscriber Line) 1989 ADSL(Asymmetric Digital Subscriber Line) DSL VDSL(Very high bit rate Digital Subscriber Line) ADSL 2040Mbps m PHS LAN FiReCOS - F (dB.u.V) F (dB.u.V) F 10m (dB.u.V) F 20m 20(dB.u.V) F 20(dB.u.V) 41

46 ad hoc LAN TCP/IP OSPF(Open Shortest Path First) AODV(Ad hoc On-Demand Distance Vector) OSPF LAN AODV LAN HCS -1 (1) (2) (3) (4) 42

47 (1) (a) (b) (c) - (2) (a) (b) LAN (3) (a) (b) VDSL VDSL AODV 43

48 PHS W120mmH75mmD175mm 260g 230g LAN802.11bUDOP MyBattery FiReCOS 5-1FiReCOS (1) 1.9GHz (2) 10mW 80mW (3) 100 (4) (5) MCA) (6) (7) (8) (9) (10) (11) (12) (13) (14) 44

49 PS PS PS PS PS PS PHS PBX1 PHS HCS1 CS 1 HUB AP 1 LAN CPU DC-DC - PS PHS PBX PC ON HCS LED 1ch LED 1ch ( ) PHS 1ch LED 1 2ch ( )1ch PHS 1ch LED 2 3ch ( )2ch PHS 1ch LED 3 (30 )1ch 2ch 3ch 45

50 PS PS PS PS PS PS CS1 PBX1 AP1 LAN HCS1 6-1ch LED 1ch PHS 1ch LED 1 2ch PHS 2ch LED 2 3ch PHS 3ch LED 3 46

51 LAN AP HCS HCS HCS - PS PS PS PS PS PS m PHS CS2 PBX2 HUB LAN LAN AP 1 PHS CPU PC ( ) 960kByte PBX2 HCS HCS HCSAP AP 47

52 48 HCS PHS PHS - PBX2 CS2 AP1 HUB LAN PHS HCS1 10m PS PS PS PS PS PS PHS

53 HCS HCS - PS PS PS PS PS PS m PHS PHS HCS1 PBX2 LAN CS2 HUB AP2 AP1 HCS AP AP ( 2004/2/14) No. Max.(mA) 3 Min.(mA) Avg.(mA) A-1 My Battery V :5.16V 3.3V :3.304 V 5V :5.00 V 3.3V :3.30 V A-2 My Battery 1057 A-3 1ch 1 My Battery A-4 2ch 1 My Battery A-5 3ch 1 My Battery A-6 2 My Battery max 49

54 (1)My Battery 2/1522 No. B :38 B :33 B B-2-1 1ch 1 04:36 B-2-2 1ch 2 04:35 B-2-3 1ch 3 B-3-1 2ch 1 04:26 B-3-2 2ch 2 04:27 B-3-3 2ch 3 B-4-1 3ch 1 04:10 B-4-2 3ch 2 04:08 B-4-3 3ch 3 HCS DC ON-OFF ( :) (1)HCS 3/16 (m) PBX PBX,AP AP 1m HCS 1.7m (2) 3/16 Pkt Byte (m) () : M 2.3Mbps : M : M 771K : M PBX, AP 1.7m PS 50

55 PHS 3/16 Level(MAX) Error (m) (dB.uV) 0(%) m 5m 240m 3/18 J-1 3 3F 2F 3 Buffalo WHR-A54G54 HCS DC-DC DC-DC HCS ONOFF 51

56 HCS A P LANIEEE b 11Mbps PHS PHS 64kbps 192kbps kbps 1.25 HCS kbps HCS HCS 30 HCS 30 HCS HCS HCS HCS or HCS HCS 52

57 HCS HCS HCS LAN LAN PHS HCSAP IEEE802.11b LAN HCS AP HCS AP AP HCS 53

58 HCS PS HCS PS HCSAP HCS PHS HCS HCS 240m 200m PS PHS ARIB RCR STD m HCS PHS LAN HCS HCS AP 30 3dB HCS PS HCSPS 100m 5m PHS 50[dB.uV] 100m HCS 54

59 AP PBX HCS PBX HCS PBX HCS AP HCS PBX HCS AP 55

60 56 AODV CS - 1F 2F VDSL200m AODV AODV AODV AODV AODV HCS CS CS CS HCS LAN AP LAN AP 3F

61 - PHS VSDL 200m VDSL 57

62 -7 - CS FiReCOS PC CS VDSL HCS PHS HCS 58

63 PHS LAN PHS 100m VDSL VDSL HCS 1994 No.49pp pp pp No.51 pp FiReCOS No.89pp

64 LAN LAN IETF MANET DECENTRA [ 1]PC PDA [ 2] PC PDA greenpacket SONBuddy IPSec Mobile IP SONAccess Meshnetworks 60

65 LAN QDMA GPS AODV IETF AODV (Ad hoc On-demand Distance Vector) [ 5]DSR (Dynamic Source Routing) OLSR (Optimized Link State Routing) AODV AODV-UU [ 6]Kernel AODV [ 7] Linux AODV OSPF (Open Shortest Path First) [ 8]2 LAN VHF 160MHz260MHz400MHz LAN AODV/OSPF VHF PLC (Power Line Communication) LAN 10KHz 450KHz 100Kbps 61

66 HF PLC (High Frequency PLC) 2MHz 30MHz 45Mbps [1]: [2]: [3]: [4]: [5]: RFC3561, Ad hoc On-demand Distance Vector (AODV) Routing [6]: [7]: [8]: 2003 B-6-120, B

67 LAN TCP/IP OSPF (Open Shortest Path First) AODV (Ad hoc On-Demand Distance Vector) 2 1 OSPF 1 63

68 (1) OSPF NBMA (Non Broadcast Multi Access) 1 OSPF (2) OSPF 1 (IP1 IP2, IP1IP3, IP2IP3, IP3IP4) (3) OSPF PVC ATM Inverse ARP Hello Link State Update 1 LAN (4) Hello Interval Router Dead Interval OSPF IP Hello Link State Update AODV AODV 64

69 1 AODV AODV (AODV ) 1 AODV AODV AODV AODV AODV AODV IP AODV AODV AODV AODV AODV AODV 65

70 AODV OSPF 3 LAN OSPF 2 66

71 3OSPF 2 VHF 67

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73 RF CODE Trans-IT Pass Code System MHz 2.45GHz 915MHz 868MHz 2.45GHz 60GHz MHz 950MHz CR2032 ID8bit+ A-Z 7 64bit 188bit 4kbyte 256kbyte 216byte mm mm 15mm, 25g 50mm 20mm 20mm AC100V AC100V AC100V AC110V AC100V DC12V DC24V RS232C RS232C, RS232C, LAN RS232C TCP/IP LAN TCP/IP TCP/IP cm 38mm 6.7cm 6.7cm cm 230g 2.5kg 1.8kg 2kg 18.5cm, 5g cm, 270g 120KHz

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81 DM 77

82 78 ISO GM_Point GM_Surface GM Geometry

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105 1 1/2 Kg4.5Kg 2) 3) 5) LAN 1) 9Kg 4Kg 20cm35cm12cm 12cm12cm15cm 2) 3) 14 1) ZUPT 101

106 ZUPT 2) ZUPT ZUPT 3) 4) LAN ( ) 5) 15 1) HCS( (1) (2) (3) (4) 102

107 VDSL VDSL HCS

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IEEE ZigBee 2.4GHz 250kbps O-QPSK DSSS Bluetooth IEEE GHz 3Mbps G-FSK FHSS PC LAN IEEE b 2.4GHz 11Mbps CCK DSSS LAN LAN IEE

IEEE ZigBee 2.4GHz 250kbps O-QPSK DSSS Bluetooth IEEE GHz 3Mbps G-FSK FHSS PC LAN IEEE b 2.4GHz 11Mbps CCK DSSS LAN LAN IEE SMK SMK Corporation Kenji OTSUKA AV AV RF 2.4GHz ISM 2.4GHz ISM 2.4GHz RF IEEE 802.15.4 ZigBee 2.4GHz 250kbps O-QPSK DSSS Bluetooth IEEE 802.15.1 2.4GHz 3Mbps G-FSK FHSS PC LAN IEEE 802.11b 2.4GHz 11Mbps