Underwater navigation by aided light sensor
First Claim
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1. A navigation system for an unmanned underwater vehicle, comprising:
- at least two navigation sensors that provide latitude and longitude measurements of unequal accuracy;
a processor; and
a memory storing a machine-readable set of instructions executable by the processor to;
process the latitude and longitude measurements received from the navigation sensors, andestimate vehicle latitude and longitude with approximately equal accuracy.
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Abstract
The present invention provides a navigation system for an unmanned underwater vehicle that includes at least two navigation sensors that provide latitude and longitude measurements of unequal accuracy, a processor and a memory. The memory stores a machine-readable set of instructions executable by the processor to process the latitude and longitude measurements received from the navigation sensors, and to estimate vehicle latitude and longitude with approximately equal accuracy.
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Citations
26 Claims
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1. A navigation system for an unmanned underwater vehicle, comprising:
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at least two navigation sensors that provide latitude and longitude measurements of unequal accuracy; a processor; and a memory storing a machine-readable set of instructions executable by the processor to; process the latitude and longitude measurements received from the navigation sensors, and estimate vehicle latitude and longitude with approximately equal accuracy. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. An underwater navigation system, comprising:
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a light sensor to provide at least longitude data; a microelectromechanical gyroscope to provide angular rate data about two orthogonal axes; and a processor, coupled to a memory, the light sensor and the microelectromechanical gyroscope, adapted to estimate position based on the light sensor data and the microelectromechanical gyroscope angular rate data. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17)
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18. A navigation method for an underwater vehicle, comprising:
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processing light sensor data to estimate longitude; processing microelectromechanical gyroscope angular rate data to estimate latitude, including; calculating an earth rotation vector based on the microelectromechanical gyroscope angular rate data, normalizing the magnitude of the earth rotation vector, and estimating latitude based on the normalized earth rotation vector magnitude; and determining the position of the vehicle based on the estimated latitude and the estimated longitude. - View Dependent Claims (19, 20, 21, 22, 23, 24, 25, 26)
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Specification