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US 11,681,041 B2Granted
Navigation system for underwater vehicles
AssigneeFraunhofer-Gesellschaft zur Foerderung der angewandten Forschung e.V.
InventorsGunnar Brink, Edwin Devassykutty, Christian Langen
Life of this patent
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Abstract
Embodiments of the present invention provide a navigation system which, on the one hand, is arranged on sides of the underwater vehicle/AUV and, on the other hand, includes a surface transmitter as a counterpart. The two units communicate with each other such that the surface transmitter emits its signal directed to the position of the underwater vehicle and/or that the surface transmitter follows the underwater vehicle to improve the position determination capability.
Claims18
A surface transmitter for an underwater vehicle movable in the three-dimensional underwater space in the x-, y- and z-direction, comprising:
- controller for moving the surface transmitter in the x- and y-direction on the water surface;
- a receiver for receiving position information for the position of the underwater vehicle;
- a control computer for controlling the controller, wherein the control computer is configured to control the surface transmitter such that the surface transmitter follows the x- and y-direction of the underwater vehicle in the x- and y-direction;
- a transmitter that is configured to emit a first signal such that a runtime of the first signal can be determined by the underwater vehicle, wherein the transmitter transmits the first signal directed in the direction of the position of the underwater vehicle;
- wherein the transmitter comprises a transmitting array for selectively directionally emitting the first signal and is configured to control the transmitting array on the basis of the position information so that the same transmits the first signal directed to the position of the underwater vehicle;
- or
- wherein the transmitter comprises a movable transmitter for selectively directionally emitting the first signal and is configured to control the movable transmitter in its movement on the basis of the position information so that the same transmits the first signal directed to the position of the underwater vehicle.
4 more elements
A surface transmitter movable in the three-dimensional underwater space in the x-, y- and z-direction, comprising:
- a receiver for receiving position information for the position of the underwater vehicle;
- and
- a transmitter that is configured to emit a first signal such that a runtime of the first signal can be determined by the underwater vehicle, wherein the transmitter transmits the first signal directed in the direction of the position of the underwater vehicle;
- wherein the transmitter comprises a transmitting array for selectively directionally emitting the first signal and is configured to control the transmitting array on the basis of the position information so that the same transmits the first signal directed to the position of the underwater vehicle;
- or
- wherein the transmitter comprises a movable transmitter for selectively directionally emitting the first signal and is configured to control the movable transmitter in its movement on the basis of the position information so that the same transmits the first signal directed to the position of the underwater vehicle.
3 more elements
A recovery apparatus for an underwater vehicle, comprising:
- collector for the underwater vehicle, and
- a surface transmitter for an underwater vehicle movable in the three-dimensional underwater space in the x-, y- and z-direction, comprising:
- controller for moving the surface transmitter the x- and y-direction on the water surface;
- a receiver for receiving position information for the position of the underwater vehicle;
- a control computer for controlling the controller, wherein the control computer is configured to control the surface transmitter such that the surface transmitter follows the x- and y-direction of the underwater vehicle in the x- and y-direction;
- and
- a surface transmitter comprising:
- a receiver for receiving position information for the position of the underwater vehicle;
- and
- a transmitter that is configured to emit a first signal such that a runtime of the first signal can be determined by the underwater vehicle, wherein the transmits the first signal directed in the direction of the position of the underwater vehicle;
- wherein the transmitter comprises a transmitting array for selectively directionally emitting the first signal and is configured to control the transmitting array on the basis of the position information so that the same transmits the first signal directed to the position of the underwater vehicle;
- or wherein the transmitter comprises a movable transmitter for selectively directionally emitting the first signal and is configured to control the movable transmitter in its movement on the basis of the position information so that the same transmits the first signal directed to the position of the underwater vehicle.
9 more elements
A method for position determination of an underwater vehicle comprising:
- receiving at least a first signal, wherein the first signal is emitted in a directional manner by a first surface transmitter, such that a runtime of the first signal can be determined;
- determining the runtime of the first signal so as to acquire a conclusion on a first distance to the first surface transmitter;
- and
- determining the position of the underwater vehicle in the three-dimensional underwater space in the x-, y- and z-direction based on the known position of the first surface transmitter and on the known first distance;
- and
- transmitting a control signal to the first surface transmitter such that the surface transmitter follows the x- and y-direction of the underwater vehicle in the x- and y-direction or such that the first surface transmitter transmits the first signal directed in the direction of the position of the underwater vehicle;
- emitting a first signal such that a runtime of the first signal can be determined by the underwater vehicle by use of a transmitter, wherein the transmitter transmits the first signal directed in the direction of the position of the underwater vehicle;
- wherein the transmitter comprises a transmitting array for selectively directionally emitting the first signal and is configured to control the transmitting array on the basis of the position information so that the same transmits the first signal directed to the position of the underwater vehicle;
- or
- wherein the transmitter comprises a movable transmitter for selectively directionally emitting the first signal and is configured to control the movable transmitter in its movement on the basis of the position information so that the same transmits the first signal directed to the position of the underwater vehicle.
7 more elements
A method for controlling a surface transmitter comprising a controller configured for moving the surface transmitter in the x- and y-direction on the water surface, comprising:
- receiving position information for the position of an underwater vehicle movable in the three-dimensional underwater space in the x-, y- and z-direction;
- and
- controlling the controller of the surface transmitter such that the surface transmitter follows the x- and y-direction of the underwater vehicle in the x- and y-direction and such that the surface transmitter transmits the first signal directed in the direction of the position of the underwater vehicle;
- wherein the transmitter of the first surface transmitter comprises a transmitting array for selectively directionally emitting the first signal and is configured to control the transmitting array on the basis of the position information so that the same transmits the first signal directed to the position of the underwater vehicle;
- or wherein the transmitter of the surface transmitter comprises a movable transmitter for selectively directionally emitting the first signal and is configured to control the movable transmitter in its movement on the basis of the position information so that the same transmits h first signal directed to the position of the underwater vehicle.
2 more elements
A method for operating a surface transmitter for an underwater vehicle movable in the three-dimensional underwater space in the x-, y- and z-direction, comprising;
- receiving position information for the position of the underwater vehicle;
- and
- emitting a first signal by use of a transmitter such that the first signal is directed in the direction of the position of the underwater vehicle and that a runtime of the first signal can be determined by the underwater vehicle;
- wherein the transmitter comprises a transmitting array for selectively directionally emitting the first signal and is configured to control the transmitting array on the basis of the position information so that the same transmits the first signal directed to the position of the underwater vehicle;
- or
- wherein the transmitter comprises a movable transmitter for selectively directionally emitting the first signal and is configured to control the movable transmitter in its movement on the basis of the position information so that the same transmits the first signal directed to the position of the underwater vehicle.
3 more elements
Dependencies are inferred from the claim text.