Method for determining, recording and sending GPS location data in an underwater environment

• US 20040068371A1
• Filed: 05/12/2003
• Published: 04/08/2004
• Est. Priority Date: 05/31/2002
• Status: Active Grant

• Current Assignee: Viavi Solutions, Inc. (Lumentum Holdings Inc.)
• Original Assignee: Trilithic Incorporated (Lumentum Holdings Inc.)
• Inventors: Estep, Randall S.
• Granted Patent: US 6,941,226 B2
• Time in Patent Office: Days
• US Class Current: 701/213
• CPC Class Codes: G01S 19/03 Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
• CPC Class Codes: G01S 19/19 Sporting applications
• CPC Class Codes: G01S 19/51 Relative positioning
• CPC Class Codes: G01S 5/0063 of measured values, i.e. measurement on base station and position calculation on mobile
• CPC Class Codes: G01S 5/18 using ultrasonic, sonic, or infrasonic waves

Abstract

Underwater position determination is provided by combining sonar-derived ranging data between a sonar receiver and a sonar transmitter with GPS position data to provide geographically-referenced position data accurately representing the position of a sonar receiver carried or worn by a diver or submersible vehicle. Function and accuracy enhancements are provided to compensate for diver and sonar transmitter and depth difference and differences of sonar signal propagation speed as well as several techniques of compensation for change of position of the GPS receiver and for logging diver and/or vehicle path.

Claims

1. A position determination system suitable for underwater deployment, said system comprising

a global positioning system (GPS) for providing GPS data representing a position of a GPS receiver,

a sonar ranging transmitter and receiver providing ranging data representing a distance and direction from a sonar receiver to a sonar transmitter, and

means for combining said ranging data with said GPS data to provide geographically-referenced position data representing a position of said sonar receiver.

2. The position determination system as recited in claim 1 further including

means for transmitting GPS data over a communication link provided by said sonar ranging transmitter and receiver.

3. The position determination system as recited in claim 2, further including a communication link from said sonar receiver to said sonar transmitter.

4. The position determination system as recited in claim 3, wherein said communication link provided from said sonar receiver to said sonar transmitter is a separate communication channel from said communication link provided by said sonar ranging transmitter and receiver.

5. The position determination system as recited in claim 1, further including

means for selectively storing said geographically-referenced position data.

6. The position determination system as recited in claim 5, further including

means for recalling stored geographically-referenced position data.

7. The position determination system as recited in claim 6, wherein said means for selectively storing and said means for recalling include a three-position switch.

8. The position determination system as recited in claim 5, further including

a download port for transferring stored geographically-referenced position data to a processor.

9. The position determination system as recited in claim 1, further including

means for correction of said ranging data for at least one of depth relative to said sonar transmitter, water temperature and water salinity.

10. The position determination system as recited in claim 1, wherein said means for combining said ranging data with said GPS data to provide geographically-referenced position data and a display are integrated with a diving mask.

11. A position determination enhancement for connection with a sonar ranging transmitter and receiver system for providing ranging data representing distance and direction between said sonar transmitter and said sonar receiver and suitable for underwater deployment, said enhancement comprising

a global positioning system (GPS) for providing GPS data representing a position of a GPS receiver, and

means for combining said ranging data with said GPS data to provide geographically-referenced position data representing a position of said sonar receiver.

12. The position determination enhancement as recited in claim 11 further including

means for transmitting GPS data over a communication link provided by said sonar ranging transmitter and receiver.

13. The position determination enhancement as recited in claim 12, further including a communication link from said sonar receiver to said sonar transmitter.

14. The position determination enhancement as recited in claim 13, wherein said communication link provided from said sonar receiver to said sonar transmitter is a separate communication channel from said communication link provided by said sonar ranging transmitter and receiver.

15. The position determination enhancement as recited in claim 11, further including

means for selectively storing said geographically-referenced position data.

16. The position determination enhancement as recited in claim 15, further including

means for recalling stored geographically-referenced position data.

17. The position determination enhancement as recited in claim 16, wherein said means for selectively storing and said means for recalling include a three-position switch.

18. The position determination system as recited in claim 15, further including

a download port for transferring stored geographically-referenced position data to a processor.

19. The position determination enhancement as recited in claim 11, further including means for correction of said ranging data for at least one of depth relative to said sonar transmitter, water temperature and water salinity.

20. The position determination enhancement as recited in claim 11, wherein said means for combining said ranging data with said GPS data to provide geographically-referenced position data and a display are integrated with a diving mask.

21. A method for underwater position determination including steps of

determining distance and direction ranging information between a sonar transmitter and a sonar receiver,

providing global positioning system (GPS) data to a processor associated with said sonar receiver, and

combining said ranging information with said GPS data to estimate a position of said sonar receiver.

22. The method as recited in claim 21, further including a step of

correcting said GPS data based on a plurality of sets of said ranging data.

23. The method as recited in claim 21, further including a step of

selectively storing an estimated position of said sonar receiver.