Control method of underwater vehicle, introducing method of underwater vehicle, recovering method of underwater vehicle, control system of underwater vehicle, introducing/recovering equipment of control system of underwater vehicle

A control system of underwater vehicle comprising on-water control means having moving means and capable of cruising near a water surface, a multiple underwater vehicles which cruise in water, and communication means provided in the on-water control means and the multiple underwater vehicles respectively, further the on-water control means includes acoustic positioning:

• means which measures respective positions of the multiple underwater vehicles, a movement-control means which controls movement of the on-water control means by the moving means such that the multiple underwater vehicles are located in a control region where the on-water control means can carry out positioning the multiple underwater vehicles by the acoustic positioning means, and a cruising-recording section which records cruising of the multiple underwater vehicles,
• wherein the movement-control means records, in the cruising-recording section, respective cruising paths of the multiple underwater vehicles together with time based on a measurement result which respective positions of the multiple underwater vehicles are measured using the acoustic positioning means and a measurement result which communication states with the communication means,
• when an underwater vehicle deviates from the control region, based on the time and cruising paths recorded in the cruising-recording section, it is estimated a direction that the underwater vehicle which deviated from the control region exists, and the on-water control means is moved in the direction in which it is estimated that the underwater vehicle exists.