Device, program product and computer implemented method for touchless metrology using an inertial navigation system and laser

Non-transitory, tangible computer storage medium having computer program operable on a computer defining a control center computer, the control center computer having one or more processors and non-transitory control memory, the computer program performing a process of determining a drift of a metrology device used in surveying a plurality of subsea objects and a process of correcting a measured position of the plurality of subsea objects using the drift, the computer program comprising a set of instructions for performing the steps of:

• measuring, responsive to collecting (a) a first subsea object data from a metrology device controller, the first subsea data including data from an inertial navigation system (INS) and an aiding device including first object position, range and orientation data, and image data;
• (b) a second subsea object data from the metrology device controller, the second subsea data including data from the INS and aiding device including second object position, range and orientation data and image data;
• and (c) a navigated first subsea object data from the metrology device controller, the navigated first subsea object data including data from the INS and aiding device including navigated first object position, range and orientation data and image data, a difference in the position of the navigated first object position and the first object position;
• calculating a drift correction for the INS using the difference between the first subsea object position and the navigated first subsea object position;
• measuring a target position responsive to collecting a target object data from the controller;
• and
• correcting the measured position of the target using the calculated drift.

A computer-implemented method for performing a process of determining a drift of a metrology device used in surveying a plurality of subsea objects and a process of correcting a measured position of the plurality of subsea objects using the drift, the computer implemented method comprising:

• measuring, responsive to collecting a first subsea object data from a metrology device controller, the first subsea object data including data from an inertial navigation system (INS) and an aiding device including first object position, range and orientation data and image data;
• a second subsea object data from the metrology device controller, the second subsea data including data from the INS and aiding device including second object position, range and orientation data and image data;
• and a navigated first subsea object data from the metrology device controller, the navigated first subsea object data including data from the INS and aiding device including navigated first object position, range and orientation data and image data, a difference in the position of the navigated first object position and the first object position;
• calculating a drift correction for the INS using the difference between the first subsea object position and the navigated first subsea object position;
• measuring a target position responsive to collecting a target object data from the controller;
• and
• correcting the measured position of the target using the calculated drift.