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US 5,708,626 AGranted
Trajectory measurement system for underwater vehicles
AssigneeThe United States of America as represented by the Secretary of the Navy
InventorJ. Dana Hrubes
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Abstract
A system for determining the velocity and trajectory of an underwater vehe comprises a data acquisition processor coupled to a plurality of sensors providing depth, heading, pitch and yaw data for the underwater vehicle. The acquisition processor collects data from the sensors, correlates and assembles the collected data into batches and processes the batches to determine vehicle velocity and trajectory of the vehicle relative to an earth-fixed coordinate system.
Claims9
A trajectory measurement system for an underwater vehicle comprising:
- a depth sensor for measuring depth of the vehicle and generating a depth sensor signal, said depth sensor signal indicating depth of the vehicle;
- a heading sensor for measuring an angular heading with respect to a reference point and generating a heading sensor signal indicating said angular heading;
- a tilt sensor for sensing orientation of the vehicle about two mutually perpendicular axes and generating a tilt sensor signal;
- and
- an acquisition processor, responsive to said depth sensor signal, said heading sensor signal and said tilt sensor signal, for determining vehicle velocity and vehicle trajectory.
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Dependencies are inferred from the claim text.