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System and method for water column aided navigation

A water column and time technology, applied in the field of underwater underwater acoustic measurement system, can solve the problems of insensitivity to interference and so on

Inactive Publication Date: 2015-08-26
特励达仪器有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

The process is relatively insensitive to disturbances caused by vertical flow and / or unknown instrument tilt

Method used

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  • System and method for water column aided navigation
  • System and method for water column aided navigation
  • System and method for water column aided navigation

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Embodiment Construction

[0022] The craft can determine their position using a satellite-based positioning system, such as, for example, the well-known Global Positioning Navigation System (GPS) on the surface of a body of water, such as an ocean or sea. Once submerged, however, the craft loses its ability to pick up GPS signals. When the vehicle reaches the bottom, the bottom tracker (dead reckoning) provides velocity information, but not position information. Therefore, there is a need for better navigation for underwater vehicles without access to satellite positioning systems.

[0023] When the vehicle is submerged, it can use the ADCP (Acoustic Doppler Current Profiler) velocity profile to navigate. The underwater vehicle may have a position fix from GPS on the surface of the water body, and once the underwater vehicle has descended within tracking range of the bottom of the water body, it may use the bottom tracker for dead reckoning. One challenge is to determine the vehicle's position on the...

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Abstract

Underwater vehicles may fix their position from GPS at the surface of the water and use bottom track for dead reckoning once it has descended to within tracking range of the bottom of a body of water. This disclosure describes a method and system for navigation through the water through depths where GPS is not available using current profiles from sonar systems including acoustic Doppler current profilers (ADCP). This extrapolation of earth referenced current profiles can provide a way to estimate vehicle motion below the surface before the vehicle reaches the bottom. Once bottom track is achieved, the corrected reference for vehicle motion improves the vehicle position estimate. A Kalman filter updates vehicle position and current profile estimates during descent, and the bottom track when the bottom comes within range to enable navigation of underwater vehicles.

Description

[0001] Cross References to Related Applications [0002] This application claims the benefit of U.S. Provisional Application No. 61 / 719,916, filed October 29, 2012, the disclosure of which is hereby incorporated by reference in its entirety, pursuant to Title 35, United States Code, Section 119(e). technical field [0003] The disclosed technology relates to underwater hydroacoustic measurement systems, and more particularly, to acoustic Doppler current profilers used to aid in the navigation of vehicles, such as underwater vehicles (UVs) or vehicles that cannot use GPS. Background technique [0004] An important class of scientific instruments involves precision underwater acoustics. Using advanced transducers that send sound pulses and receive echoes, the velocity of water flow in individual cells of the water column can be measured. This type of measurement is known in the industry as a velocity profile. As described in US Patent No. 6,052,334, the use of Doppler sonar ...

Claims

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Application Information

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IPC IPC(8): G01C21/12
CPCG01C21/12G01P5/241G01P5/001G01S15/60G01P3/26G01S19/13
Inventor B·S·斯特朗
Owner 特励达仪器有限公司
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