WO2009127429A3 - Verfahren zur trägheits-navigation unter wasser - Google Patents

Verfahren zur trägheits-navigation unter wasser Download PDF

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Publication number
WO2009127429A3
WO2009127429A3 PCT/EP2009/002843 EP2009002843W WO2009127429A3 WO 2009127429 A3 WO2009127429 A3 WO 2009127429A3 EP 2009002843 W EP2009002843 W EP 2009002843W WO 2009127429 A3 WO2009127429 A3 WO 2009127429A3
Authority
WO
WIPO (PCT)
Prior art keywords
coordinate system
under water
deviation
inertial navigation
acceleration sensor
Prior art date
Application number
PCT/EP2009/002843
Other languages
English (en)
French (fr)
Other versions
WO2009127429A2 (de
Inventor
Günter Schmitz
Tim Schmitz
Original Assignee
Fachhochschule Aachen
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fachhochschule Aachen filed Critical Fachhochschule Aachen
Priority to US12/934,721 priority Critical patent/US20120022820A1/en
Priority to EP09732157A priority patent/EP2269002A2/de
Publication of WO2009127429A2 publication Critical patent/WO2009127429A2/de
Publication of WO2009127429A3 publication Critical patent/WO2009127429A3/de

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G01C21/1654—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with electromagnetic compass

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Navigation (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

Die Erfindung betrifft ein Verfahren zur Unterwassernavigation, insbesondere für Gerätetaucher sowie für autonome, bemannte oder ferngesteuerte Unterwasserfahrzeuge, bei dem die Signale wenigstens eines Sensors, umfassend wenigstens einen Beschleunigungssensor zur Bestimmung der aktuellen Position integrativ ausgewertet werden, die Genauigkeit durch Verwendung von Referenzmessungen verbessert wird und eine Korrektur durch einen Korrekturvektor erfolgt, der aus der Transformation des Vektors der vom Beschleunigungssensor im Tauchcomputerkoordinatensystem gemessenen Beschleunigungen in das Weltkoordinatensystem, Vergleich mit mindestens einer der Referenzmesswerte, Bestimmung der Abweichung und die Rücktransformation der Abweichung in das Tauchcomputerkoordinatensystem gewonnen wird.
PCT/EP2009/002843 2008-04-17 2009-04-17 Verfahren zur trägheits-navigation unter wasser WO2009127429A2 (de)

Priority Applications (2)

Application Number Priority Date Filing Date Title
US12/934,721 US20120022820A1 (en) 2008-04-17 2009-04-17 Method for inertial navigation under water
EP09732157A EP2269002A2 (de) 2008-04-17 2009-04-17 Verfahren zur trägheits-navigation unter wasser

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102008019444A DE102008019444A1 (de) 2008-04-17 2008-04-17 Verfahren zur Trägheits-Navigation unter Wasser
DE102008019444.1 2008-04-17

Publications (2)

Publication Number Publication Date
WO2009127429A2 WO2009127429A2 (de) 2009-10-22
WO2009127429A3 true WO2009127429A3 (de) 2009-12-23

Family

ID=40933762

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2009/002843 WO2009127429A2 (de) 2008-04-17 2009-04-17 Verfahren zur trägheits-navigation unter wasser

Country Status (4)

Country Link
US (1) US20120022820A1 (de)
EP (1) EP2269002A2 (de)
DE (1) DE102008019444A1 (de)
WO (1) WO2009127429A2 (de)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2975073B1 (fr) * 2011-05-10 2015-08-21 Alain Dinis Procede et dispositif pour la visualisation d'un contenu informatique associe a une propulsion.
US9746328B2 (en) * 2014-06-27 2017-08-29 Ariadna Tech Oy Generation of underwater navigational information
US10410766B2 (en) * 2014-11-25 2019-09-10 Nkt Hv Cables Gmbh Jointed power cable and method of manufacturing the same
US10227117B2 (en) 2016-03-03 2019-03-12 Jacob Easterling Autonomous underwater vehicle for aiding a scuba diver
JP6757226B2 (ja) * 2016-10-07 2020-09-16 株式会社マキタ 電動工具
US10352705B2 (en) * 2016-10-31 2019-07-16 Deepblu Inc. Positioning method for obtaining at least one underwater position of a positioning system
US20200132463A1 (en) * 2018-05-18 2020-04-30 Tesseron Ltd Virtual reality sports mask with precision three-dimension underwater navigation
CN109186593A (zh) * 2018-09-13 2019-01-11 深圳市吉影科技有限公司 一种水下无人机的运动轨迹记录绘制方法
JP2021079730A (ja) * 2019-11-14 2021-05-27 ヤマハ発動機株式会社 船外機および船舶
CN111736595B (zh) * 2020-05-20 2022-04-22 武汉理工大学 一种船舶行驶轨迹的控制方法、***、装置和存储介质
CN114061591B (zh) * 2021-11-18 2022-07-12 东南大学 一种基于滑动窗数据回溯的等值线匹配方法

Citations (5)

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DE2922415A1 (de) * 1979-06-01 1980-12-04 Bodenseewerk Geraetetech Navigationsgeraet fuer landfahrzeuge
EP0179197A2 (de) * 1984-10-23 1986-04-30 Bodenseewerk Gerätetechnik GmbH Anordnung zur Bestimmung der zeitlich veränderlichen Lage und von Fehlern eines Tochternavigationssystems relativ zu einem Mutternavigationssystem
EP0263777A2 (de) * 1986-10-07 1988-04-13 Bodenseewerk Gerätetechnik GmbH Integriertes, redundantes Referenzsystem für die Flugregelung und zur Erzeugung von Kurs- und Lageinformationen
WO1997024582A1 (en) * 1995-12-28 1997-07-10 Magellan Dis Inc. Improved vehicle navigation system and method using a multiple axes accelerometer
US20070006472A1 (en) * 2005-05-16 2007-01-11 Aaron Bauch Independent personal underwater navigation system for scuba divers

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US3944977A (en) 1974-05-21 1976-03-16 Optical Business Machines Adaptive and programmed threshold level detection arrangement
US3986161A (en) 1975-04-07 1976-10-12 Sea-Scan, Inc. Underwater directional guidance apparatus
EP0305450B1 (de) * 1987-03-03 1992-06-03 Cochran Consulting Inc. Anzeigevorrichtung für tauchparameter
DE3742423A1 (de) 1987-12-15 1989-06-29 Studio Senta Unterwasser-navigationseinrichtung
US5119341A (en) * 1991-07-17 1992-06-02 The United States Of America As Represented By The Secretary Of The Air Force Method for extending GPS to underwater applications
US5331602A (en) * 1993-04-26 1994-07-19 Hughes Aircraft Company Acoustic navigation and diving information system and method
US5570323A (en) 1995-01-19 1996-10-29 Ascend Corporation Navigational device for a scuba diver
US5708626A (en) * 1996-12-30 1998-01-13 The United States Of America As Represented By The Secretary Of The Navy Trajectory measurement system for underwater vehicles
WO2001065274A1 (en) * 2000-03-03 2001-09-07 Mikael Bliksted Larsen Methods and systems for navigating under water
US6791490B2 (en) 2001-03-30 2004-09-14 Joseph David King Integrated dive flag/float and GPS navigation system for scuba divers
US6807127B2 (en) 2001-11-19 2004-10-19 John F. McGeever, Jr. Navigational device for an underwater diver
US6701252B2 (en) 2002-01-15 2004-03-02 Richard Ivan Brown System for underwater GPS navigation
WO2004005953A2 (en) 2002-07-08 2004-01-15 American Underwater Products Dba Oceanic Dive computer with global positioning system receiver
ITBO20040740A1 (it) * 2004-11-29 2005-02-28 Garofalo Pietro Unita' trasportabile per il rilievo della posizione rispetto ad un riferimento, particolarmente per ambienti sostanzialmente schermati
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Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2922415A1 (de) * 1979-06-01 1980-12-04 Bodenseewerk Geraetetech Navigationsgeraet fuer landfahrzeuge
EP0179197A2 (de) * 1984-10-23 1986-04-30 Bodenseewerk Gerätetechnik GmbH Anordnung zur Bestimmung der zeitlich veränderlichen Lage und von Fehlern eines Tochternavigationssystems relativ zu einem Mutternavigationssystem
EP0263777A2 (de) * 1986-10-07 1988-04-13 Bodenseewerk Gerätetechnik GmbH Integriertes, redundantes Referenzsystem für die Flugregelung und zur Erzeugung von Kurs- und Lageinformationen
WO1997024582A1 (en) * 1995-12-28 1997-07-10 Magellan Dis Inc. Improved vehicle navigation system and method using a multiple axes accelerometer
US20070006472A1 (en) * 2005-05-16 2007-01-11 Aaron Bauch Independent personal underwater navigation system for scuba divers

Also Published As

Publication number Publication date
WO2009127429A2 (de) 2009-10-22
EP2269002A2 (de) 2011-01-05
DE102008019444A1 (de) 2009-10-22
US20120022820A1 (en) 2012-01-26

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