Underwater positioning system

A method of enhancing position information for a rover, moving within a reference frame underwater, the rover carrying an imaging device and being in communication with a processor for evaluating position data relating to the momentary position of the rover with respect to the reference frame, the method comprising:

• providing a beacon having a light source;
• placing the beacon at a fixed position within the reference frame;
• moving the rover within the reference frame to different viewpoints;
• generating direction data representing a direction of the light source with respect to the imaging device from the different viewpoints;
• providing the direction data to the processor;
• determining an orientation of the imaging device with respect to the reference frame and generate orientation data;
• and
• providing scaling data representative of a distance between the light source and the imaging device.

An underwater rover comprising an imaging device and an orientation sensor associated with the imaging device for determining an orientation of the imaging device with respect to a reference frame, the rover being controllable to:

• move underwater within the reference frame to different viewpoints, relative to a beacon with a light source that is located at a fixed position within the reference frame;
• generate direction data representing a direction of the light source with respect to the imaging device from the different viewpoints;
• determine an orientation of the imaging device with respect to the reference frame and generate orientation data;
• provide scaling data representative of a distance between the light source and the imaging device;
• and
• communicate with a processor for evaluating position data relating to a momentary position of the rover with respect to the reference frame.

An underwater positioning system for providing position information for a rover, wherein the rover is adapted for deployment in a body of water and for moving within a reference frame, wherein the system comprises:

• a light source provided in or on the rover and moveable together with the rover between different positions with respect to the reference frame;
• a beacon provided with an underwater imaging device and adapted for deployment in the body of water at a fixed position with respect to the reference frame, wherein the underwater imaging device is configured to observe the light source at the different positions and to determine direction data representing a direction or change in direction of the light source with respect to the imaging device;
• an orientation sensor, associated with the rover and configured to determine an orientation of the rover with respect to the reference frame and to generate orientation data, and
• a scaling element for providing scaling data representative of a distance between the imaging device and the light source.

A method of enhancing position information for a rover, moving in a body of water and within a reference frame, wherein the rover is provided with a light source and is in communication with a processor for evaluating position data relating to the momentary position of the rover with respect to the reference frame, wherein the method comprises:

• providing a beacon with an underwater imaging device, wherein the underwater imaging device is configured to observe the light source at different positions and to determine direction data representing a direction or change in direction of the light source with respect to the imaging device;
• deploying the beacon in the body of water at a fixed position with respect to the reference frame;
• moving the rover within the reference frame to different viewpoints;
• generating direction data representing a direction of the light source with respect to the imaging device from the different viewpoints;
• providing the direction data to the processor;
• determining an orientation of the rover with respect to the reference frame to generate orientation data, and
• providing scaling data representative of a distance between the imaging device and the light source.