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US 7,257,483 B2Granted
Method and apparatus for determining the position of an underwater object in real-time
AssigneeHydro-Quebec
InventorsMichel Blain, Régis Houde, Richard Laliberté
Life of this patent
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Abstract
A method and apparatus is disclosed for providing a determined position in real-time of an underwater object using a plurality of sensors operating at various sampling rates and for using the determined position in real-time in order to perform inspection tasks inter alia.
Claims23
A method for determining a position underwater in real-time of an object, said method comprising:
- sampling an estimation of said position of said object at a first given frequency, with a mean position error equal to zero;
- sampling an estimation of at least one of a velocity and an acceleration of said object at a second given frequency higher than said first given frequency, resulting in a position estimate with a mean error which is not equal to zero;
- and
- combining said estimation of said position with said estimation of at least one of a velocity and an acceleration to provide said position at said is second given frequency.
1 more element
An apparatus for determining a position in real-time of an object underwater, said apparatus comprising
- a position sensor unit having a mean error equal to zero for providing an estimated position signal of said object at a first given frequency;
- at least one of an instantaneous velocity sensor unit and an acceleration sensor unit for providing at least one of a corresponding instantaneous velocity signal and a corresponding instantaneous acceleration signal at a second given frequency higher than said first given frequency;
- and
- a position providing unit receiving and combining said estimated position signal and said at least one of said corresponding instantaneous velocity signal and said corresponding sampled instantaneous acceleration signal to provide said position signal in real-time at said second given frequency.
1 more element
Dependencies are inferred from the claim text.