Navigational aid for diver
First Claim
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1. A method of underwater navigation, said method comprising:
- determining, at a first underwater device, a direction to target relative to a first angular reference known to the first underwater device;
establishing a reference line between the first and a second underwater device, said reference line forming the base of a reference triangle whose vertices correspond respectively to the first underwater device, the second underwater device and the target;
computing, at the first underwater device, a first included angle of said reference triangle between the reference line and a line extending from the first underwater device to the target based on the direction to target from the first underwater device;
determining, at the first underwater device, a first distance between the first underwater device and the target;
determining at the first underwater device, a second distance between the first and second underwater device;
computing, at the first underwater device, a third distance from the second underwater device to the target based on the first included angle and the first and second distances; and
transmitting the third distance to the second underwater device to assist the second underwater device in locating the target.
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Abstract
A diver unit computes the direction and distance to a specified target. When the target is obstructed, the diver unit receives navigation assistance data from another diver unit. The navigation assistance data includes direction information that is referenced to a common reference line extending between the two diver units.
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Citations
35 Claims
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1. A method of underwater navigation, said method comprising:
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determining, at a first underwater device, a direction to target relative to a first angular reference known to the first underwater device;
establishing a reference line between the first and a second underwater device, said reference line forming the base of a reference triangle whose vertices correspond respectively to the first underwater device, the second underwater device and the target;
computing, at the first underwater device, a first included angle of said reference triangle between the reference line and a line extending from the first underwater device to the target based on the direction to target from the first underwater device;
determining, at the first underwater device, a first distance between the first underwater device and the target;
determining at the first underwater device, a second distance between the first and second underwater device;
computing, at the first underwater device, a third distance from the second underwater device to the target based on the first included angle and the first and second distances; and
transmitting the third distance to the second underwater device to assist the second underwater device in locating the target. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A method of underwater navigation, said method comprising:
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determining, at a first underwater device, a direction to target relative to a first angular reference known to the first underwater device;
establishing a reference line between the first and a second underwater device, said reference line forming the base of a reference triangle whose vertices correspond respectively to the first underwater device, the second underwater device and the target;
computing, at the first underwater device, a first included angle of said reference triangle between the reference line and a line extending from the first underwater device to the target based on the direction to target from the first underwater device;
determining, at the first underwater device, a first distance between the first underwater device and the target; and
transmitting the first included angle and the first distance to the second underwater device to assist the second underwater device in locating the target. - View Dependent Claims (16, 17, 18, 19, 20)
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21. An underwater navigation aid comprising:
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a sonar transceiver for transmitting and receiving signals underwater;
a processing circuit coupled to said sonar transceiver and operative to;
determine a direction to target from a current location based on received signals from the target;
establish a reference line extending through both the current location and a second remote location associated with a remote underwater device, said reference line forming the base of a reference triangle whose vertices correspond respectively to the current location, the remote location and the target location;
compute a first included angle of said reference triangle between the reference line and a line extending through the current location and the target location;
determine a first distance between the current location and the target location;
determine a second distance between the current location and the remote location;
compute a third distance from the remote location to the target location based on the first included angle and the first and second distances; and
controlling the sonar transceiver to transmit the third distance to the remote underwater device to assist the remote underwater device in locating the target. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29, 30)
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31. An underwater navigation aid comprising:
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a sonar transceiver for transmitting and receiving signals underwater;
a processing circuit coupled to said sonar transceiver and operative to;
determine a direction to from a current location to a target relative to a first angular reference known to the first underwater device;
establish a reference line extending through both the current location a second remote location associated with a remote underwater device, said reference line forming the base of a reference triangle whose vertices correspond respectively to the current location, the remote location and the target location;
compute a first included angle of said reference triangle between the reference line and a line extending from the current location to the target location based and the direction to target from the first underwater device;
determine a first distance from the current location to the target location; and
control the sonar transducer to transmit the first included angle and the first distance to the remote underwater device to assist the remote underwater device in locating the target. - View Dependent Claims (32, 33, 34)
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35. A navigation aid comprising:
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a sonar transceiver for receiving a first distance and first direction from a first underwater device to a target, said direction being relative to a reference line extending from a first location associated with the first underwater device to a current location;
a processing circuit coupled to said sonar transceiver and operative to;
determine a second distance from said current location to said first location;
compute a third distance from said current location to said target based on said first distance, second distance and said first direction; and
compute a second direction from the current location to the target based on said first direction, the first distance and the third distance.
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Specification