Title:
SYSTEMS AND METHODS FOR NAVIGATING AUTONOMOUS UNDERWATER VEHICLES
Document Type and Number:
WIPO Patent Application WO/2014/145017
Kind Code:
A3
Abstract:
Systems and methods are described herein for a variable-depth sonar. A null in the frequency response between a first and second operating frequency band is identified. A center operating frequency for each of the first and the second operating band is adjusted based on the ambient pressure. Furthermore, the velocity state of a vehicle may be calculated using periodic velocity updates. At least one transducer transmits a first signal in a first direction, and a Doppler sensor receives an echo of the first signal. The vehicle is turned in a second direction, and the at least one transducer transmits a second signal in the second direction. Using the first and the second velocity measurement, a vehicle velocity state is calculated.
Inventors:
RIKOSKI RICHARD J (US)
Application Number:
PCT/US2014/029653
Publication Date:
March 26, 2015
Filing Date:
March 14, 2014
Export Citation:
Assignee:
HADAL INC (US)
RIKOSKI RICHARD J (US)
RIKOSKI RICHARD J (US)
International Classes:
B63G8/00; B22D31/00; B29C44/34; B63B3/13; B63B27/16; B63B27/36; B63G8/39; F17C1/00; G01C21/00; G01C21/16; G01S7/52; G01S15/02; G01S15/10; G01S15/60; G01S15/89
Domestic Patent References:
| WO1997047990A1 | 1997-12-18 |
Foreign References:
| JPH09243733A | 1997-09-19 | |||
| US20090238042A1 | 2009-09-24 | |||
| EP0016716A1 | 1980-10-01 | |||
| US20070025184A1 | 2007-02-01 | |||
| US4244026A | 1981-01-06 |
Other References:
BJORNO L: "Developments in sonar technologies and their applications", UNDERWATER TECHNOLOGY SYMPOSIUM (UT), 2013 IEEE INTERNATIONAL, IEEE, 5 March 2013 (2013-03-05), pages 1 - 8, XP032410848, ISBN: 978-1-4673-5948-1, DOI: 10.1109/UT.2013.6519839
HEGRENAES O ET AL: "Doppler water-track aided inertial navigation for autonomous underwater vehicle", OCEANS 2009-EUROPE, 2009. OCEANS '09, IEEE, PISCATAWAY, NJ, USA, 11 May 2009 (2009-05-11), pages 1 - 10, XP031540867, ISBN: 978-1-4244-2522-8
HEGRENAES O ET AL: "Doppler water-track aided inertial navigation for autonomous underwater vehicle", OCEANS 2009-EUROPE, 2009. OCEANS '09, IEEE, PISCATAWAY, NJ, USA, 11 May 2009 (2009-05-11), pages 1 - 10, XP031540867, ISBN: 978-1-4244-2522-8
Attorney, Agent or Firm:
FEUSTEL, Richard M. et al. (Prudential Tower800 Boylston Stree, Boston MA, US)
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