# US 10,502,829 B2 · Underwater optical metrology system

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- Number: US 10,502,829 B2
- Document ID: US10502829B2
- Status: Granted
- Kind: B2
- Application number: 16/031,867
- Filed: 2018-07-10
- Published: 2019-01-10
- Granted: 2019-12-10
- Earliest claimed: 2017-07-10
- Assignees: 3D at Depth, Inc.
- Applicants: 3D at Depth, Inc.
- Inventors: Carl W. Embry; Neil Manning; Derek D. Pierce; Julian Peter Rickards; Cory S. Moore
- Web page: https://patentgrep.com/patent/US10502829B2

## CPC

- G01C 21/1656: {with passive imaging devices, e.g. cameras}
- G01S 15/874: {Combination of several spaced transponders or reflectors of known location for determining the position of a receiver (G01S15/872 takes precedence)}
- B63G 8/001: {Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations (self-propelled or direction controlled diving chambers with mechanical link to a base B63C11/42)}
- B63G 8/38: Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar {(periscopes, optical aiming or sighting devices per se G02B23/00)}
- G01C 13/00: Surveying specially adapted to open water, e.g. sea, lake, river or canal (liquid level metering G01F)
- G01C 15/002: {Active optical surveying means (optical plumbing G01C15/105)}
- G01C 21/1652: {with ranging devices, e.g. LIDAR or RADAR}
- G01C 21/20: Instruments for performing navigational calculations (G01C21/24, G01C21/26 take precedence)
- G01S 5/16: using electromagnetic waves other than radio waves
- G01S 5/18: using ultrasonic, sonic or infrasonic waves
- G01S 15/74: Systems using reradiation of acoustic waves, e.g. IFF, i.e. identification of friend or foe
- G01S 15/86: Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
- G01S 15/87: Combinations of sonar systems
- G01S 17/42: Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S17/46)
- G01S 17/86: Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
- G01S 17/87: Combinations of systems using electromagnetic waves other than radio waves
- G01S 17/88: Lidar systems specially adapted for specific applications
- G01S 17/89: for mapping or imaging
- G01S 17/93: for anti-collision purposes
- G03B 17/08: Waterproof bodies or housings
- G03B 42/06: using ultrasonic, sonic or infrasonic waves
- B63G 2008/005: {remotely controlled}
- G01S 17/74: Systems using reradiation of electromagnetic waves other than radio waves, e.g. IFF, i.e. identification of friend or foe
- G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S)
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- B63G: OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS (means of attack or defence in general, e.g. turrets F41H)
- G03B: APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR (optical parts of such apparatus G02B; photosensitive materials or processes for photographic purposes G03C; apparatus for processing exposed photographic materials G03D)

## Abstract

Described herein are methods and devices for improved location of any and all underwater structures or equipment installed underwater. In particular, systems are disclosed that combine optical and acoustic metrology for locating objects in underwater environments. The systems allow for relative positions of objects to be determined with great accuracy using optical techniques, and support enhanced location of devices that utilize acoustic location techniques. In addition, location information can be provided by the system even in conditions that make optical metrology techniques impossible or impractical.

## Claims

### Claim 1

A method for performing a long-distance metrology, comprising,
placing both low and high reflectivity targets on a structure;
taking dimension control (DC) data of the targets and the structure; and
placing a first metrology system at a first location close to at least a first portion of the structure and performing first and second scans of the structure, wherein the first scan is at a standard gain level to capture a first point cloud that includes returns from the structure, low reflectivity targets, and seabed, wherein the second scan is at a low gain level to capture a second point cloud that includes returns from the high reflectivity targets.

### Claim 2 (depends on 1)

The method of claim 1, further comprising:
placing one of the first metrology system or a second metrology system at a second location close to at least a second portion of the structure and performing third and fourth scans of the structure, wherein the third scan is at a standard gain level to capture a third point cloud that includes returns from the structure, low reflectivity targets, and seabed, wherein the fourth scan is at a low gain level to capture a fourth point cloud that includes returns from the high reflectivity targets.

### Claim 3 (depends on 2)

The method of claim 2, further comprising:
locating at least some of the high reflectivity targets in the returns in both the second and fourth point clouds; and
combining the first and third point clouds using the at least some of the high reflectivity targets in the returns in both the second and fourth point clouds as control points.

### Claim 4 (depends on 3)

The method of claim 3, wherein long range data collected from the high reflectivity targets are cross-checked with acoustic transponder data across a same distance.

### Claim 5 (depends on 1)

The method of claim 1, wherein the data collected from the first scan is used to obtain at least one of pitch, roll, heading, height above seabed, and seabed profile information for the structure.

### Claim 6 (depends on 1)

The method of claim 1, wherein the structure is a first structure, the method further comprising:
placing one of the first metrology system or a second metrology system at a second location close to at least a portion of a second structure and performing third and fourth scans of the second structure, wherein the third scan is at a standard gain level to capture a third point cloud that includes returns from the second structure, low reflectivity targets, and seabed, wherein the fourth scan is at a low gain level to capture a fourth point cloud that includes returns from high reflectivity targets.

### Claim 7 (depends on 6)

The method of claim 6, further comprising:
locating at least some of the high reflectivity targets in the returns in both the second and fourth point clouds; and
combining the first and third point clouds using the at least some of the high reflectivity targets in the returns in both the second and fourth point clouds as control points.

### Claim 8 (depends on 7)

The method of claim 7, wherein long range data collected from the high reflectivity targets are cross-checked with acoustic transponder data across a same distance.

### Claim 9 (depends on 1)

The method of claim 1, further comprising:
after taking dimension control data of the targets and structure, placing the structure in an underwater location.

### Claim 10 (depends on 9)

The method of claim 9, wherein the first location is an underwater location.

### Claim 11 (depends on 1)

The method of claim 1, wherein data in the first point cloud corresponding to returns from the high reflectivity targets is saturated, and wherein data in the second point cloud corresponding to returns from the high reflectivity targets is not saturated.

### Claim 12 (depends on 11)

The method of claim 11, wherein the second point cloud does not include returns from the seafloor.

### Claim 13 (depends on 9)

The method of claim 9, wherein the structure is a first structure, the method further comprising:
placing at least high reflectivity targets on a second structure;
taking dimension control (DC) data of the targets and the second structure;
placing the second structure in another underwater location; and
performing a third scan of the second structure, wherein the third scan is at a standard gain level to capture a third point cloud that includes returns from the second structure, low reflectivity targets, and seabed.

### Claim 14 (depends on 13)

The method of claim 13, wherein the third scan is taken from the first location.

### Claim 15 (depends on 14)

The method of claim 14, wherein after performing the first and second scans and before performing the third scan the metrology system does not move locations but pans from the first structure to the second structure.

### Claim 16 (depends on 15)

The method of claim 15, wherein returns are not received from the second structure as part of the third scan, only returns from the high reflectivity targets.

### Claim 17 (depends on 10)

The method of claim 10, wherein the low and high reflectivity targets are placed on the structure while the structure is at a topside location.

### Claim 18 (depends on 1)

The method of claim 1, further comprising:
merging the first and second point clouds.

### Claim 19 (depends on 1)

The method of claim 1, wherein the structure is a first structure, the method further comprising:
placing the first metrology system at a second location and performing a third scan of the first structure and a fourth scan of a second structure, wherein the third scan captures a third point cloud that only includes returns from the high reflectivity targets placed on the first structure, and wherein the fourth scan captures a fourth point cloud that only includes returns from only high reflectivity targets placed on the second structure.

### Claim 20 (depends on 19)

The method of claim 19, further comprising:
merging the third and fourth point clouds.