Navigation system for underwater vehicles

Patent metadata

Field	Value
Publication number	US-11899104-B2
Application number	US-202318166666-A
Country	US
Kind code	B2
Filing date	Feb 9, 2023
Priority date	Apr 28, 2017
Publication date	Feb 13, 2024
Grant date	Feb 13, 2024

Abstract

Embodiments of the present invention provide a navigation system which, on the one hand, is arranged on sides of the underwater vehicle/AUV and, on the other hand, includes a surface transmitter as a counterpart. The two units communicate with each other such that the surface transmitter emits its signal directed to the position of the underwater vehicle and/or that the surface transmitter follows the underwater vehicle to improve the position determination capability.

First claim

The invention claimed is:

1. A receiver for an underwater vehicle, comprising:
receiver for receiving at least a first signal, wherein the first signal is transmitted in a directional manner by a first surface transmitter such that a runtime of the first signal can be determined;
a signal analyzer configured to determine the runtime of the first signal so as to acquire a conclusion on a first distance to the first surface transmitter; and
a calculator configured to determine, based on known positions of the first surface transmitter and on the first distance, the position of the underwater vehicle in the three-dimensional underwater space in the x-, y- and z-direction; and
a transmitter configured to transmit a control signal to the first surface transmitter such that the surface transmitter follows the x- and y-direction of the underwater vehicle in the x- and y-direction and such that the first surface transmitter transmits the first signal directed in the direction of the position of the underwater vehicle; wherein the transmitter of the first surface transmitter comprises a transmitting array for selectively directionally emitting the first signal and is configured to control the transmitting array on the basis of the position information so that the same transmits the first signal directed to the position of the underwater vehicle; or wherein the transmitter of the first surface transmitter comprises a movable transmitter for selectively directionally emitting the first signal and is configured to control the movable transmitter in its movement on the basis of the position information so that the same transmits the first signal directed to the position of the underwater vehicle.

2. The receiver according to claim 1 , wherein the control signal is selected such that the first surface transmitter is positioned substantially perpendicularly above the underwater vehicle.

3. The receiver according to claim 1 , wherein the receiver is configured for receiving a second signal, wherein the second signal is emitted in a directional manner from a second surface transmitter, such that a runtime of the second signal can be determined; wherein the signal analyzer is configured to determine the runtime of the second signal so as to acquire a conclusion on a second distance to the second surface transmitter; and
wherein the calculator is configured to determine, based on the known position of the first surface transmitter and on the first distance, the position of the underwater vehicle, and based on the known position of the second surface transmitter and on the second distance, the position of the underwater vehicle in the three-dimensional underwater space in the x-, y- and z-direction.

4. The receiver according to claim 1 , wherein the calculator is configured to determine, based on the known position of the first surface transmitter and on the first distance, the position of the underwater vehicle and, based on additional information, the position of the underwater vehicle in the three-dimensional underwater space in the x-, y- and z-direction.

5. The receiver according to claim 4 , wherein the additional information comprises a certain depth of the underwater vehicle or a direction indication with respect to a radiation of the first signal by the surface transmitter.

6. The receiver according to claim 1 , wherein the signal analyzer is synchronized with the first surface transmitter.

7. The receiver according to claim 1 comprising at least one surface transmitter for an underwater vehicle movable in the three-dimensional underwater space in the x-, y- and z-direction, the surface transmitter comprising:
controller for moving the surface transmitter in the x- and y-direction on the water surface;
a receiver for receiving position information for the position of the underwater vehicle;
a control computer for controlling the controller, wherein the control computer is configured to control the surface transmitter such that the surface transmitter follows the x- and y-direction of the underwater vehicle in the x- and y-direction;

a surface transmitter movable in the three-dimensional underwater space in the x-, y- and z-direction, the surface transmitter comprising:
a receiver for receiving position information for the position of the underwater vehicle; and
a transmitter that is configured to emit a first signal such that a runtime of the first signal can be determined by the underwater vehicle, wherein the transmitter transmits the first signal directed in the direction of the position of the underwater vehicle, or

a recovery apparatus.

8. The receiver of claim 7 , wherein the recovery apparatus comprises collector for the underwater vehicle.

9. A method for an underwater vehicle, comprising:
receiving at least a first signal, wherein the first signal is transmitted in a directional manner by a first surface transmitter such that a runtime of the first signal can be determined;
determining the runtime of the first signal so as to acquire a conclusion on a first distance to the first surface transmitter; and
determining, based on known positions of the first surface transmitter and on the first distance, the position of the underwater vehicle in the three-dimensional underwater space in the x-, y- and z-direction; and
transmitting a control signal to the first surface transmitter such that the surface transmitter follows the x- and y-direction of the underwater vehicle in the x- and y-direction and such that the first surface transmitter transmits the first signal directed in the direction of the position of the underwater vehicle; wherein the transmitter of the first surface transmitter comprises a transmitting array for selectively directionally emitting the first signal and is configured to control the transmitting array on the basis of the position information so that the same transmits the first signal directed to the position of the underwater vehicle; or wherein the transmitter of the first surface transmitter comprises a movable transmitter for selectively directionally emitting the first signal and is configured to control the movable transmitter in its movement on the basis of the position information so that the same transmits the first signal directed to the position of the underwater vehicle.

10. Computer digital storage medium having stored thereon a computer program code for performing, when running on an underwater vehicle a method for operating same, comprising:
receiving at least a first signal, wherein the first signal is transmitted in a directional manner by a first surface transmitter such that a runtime of the first signal can be determined;
determining the runtime of the first signal so as to acquire a conclusion on a first distance to the first surface transmitter; and
determining, based on known positions of the first surface transmitter and on the first distance, the position of the underwater vehicle in the three-dimensional underwater space in the x-, y- and z-direction; and
transmitting a control signal to the first surface transmitter such that the surface transmitter follows the x- and y-direction of the underwater vehicle in the x- and y-direction and such that the first surface transmitter transmits the first signal directed in the direction of the position of the underwater vehicle; wherein the transmitter of the first surface transmitter comprises a transmitting array for selectively directionally emitting the first signal and is configured to control the transmitting array on the basis of the position information so that the same transmits the first signal directed to the position of the underwater vehicle; or wherein the transmitter of the first surface transmitter

Assignees

• Fraunhofer Ges Forschung

Inventors

• Brink Gunnar
• Devassykutty Edwin
• Langen Christian

Classifications

• G01S15/00 Primary

  Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems · CPC title

• B63B22/18

  having means to control attitude or position, e.g. reaction surfaces or tether · CPC title

• B63G8/38

  Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar {(periscopes, optical aiming or sighting devices per se G02B23/00)} · CPC title

• G05D1/0206 Primary

  specially adapted to water vehicles · CPC title

• G05D1/0692

  specially adapted for under-water vehicles · CPC title