METHODS AND SYSTEMS FOR UNDERWATER NAVIGATION

• US 20090238042A1
• Filed: 03/19/2008
• Published: 09/24/2009
• Est. Priority Date: 03/19/2008
• Status: Active Grant

• Current Assignee: Honeywell International Inc.
• Original Assignee: Honeywell International Inc.
• Inventors: Hartman, Randolph G., Hawkinson, Wesley J., Sweeney, Kevin
• Granted Patent: US 7,778,111 B2
• Time in Patent Office: Days
• US Class Current: 367/89
• CPC Class Codes: G01C 21/1652 with ranging devices, e.g. LIDAR or RADAR
• CPC Class Codes: G01C 21/1654 with electromagnetic compass
• CPC Class Codes: G01S 15/06 Systems determining the position data of a target
• CPC Class Codes: G01S 15/60 wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track
• CPC Class Codes: G01S 15/86 Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
• CPC Class Codes: Y02A 90/30 Assessment of water resources

Abstract

A method for navigating underwater is disclosed. The method uses a navigation system to project a first velocity measurement along one or more signal beams having a second velocity measurement, where the second velocity measurement is related to at least one of the one or more signal beams. The method determines a position and location of an object associated with the navigation system based on a prediction of at least the second velocity measurement, and the navigation system is adjusted to perform within a prescribed measurement range based on a covariance of the first and second velocity measurements. The performance adjustments made in determining the position and location of the object are operable independent of the navigation system maintaining each of the signal beams due to one or more external environmental conditions.

Claims

1. A method for navigating underwater, the method comprising:

projecting a first velocity measurement along one or more signal beams from a navigation system having a second velocity measurement, the second velocity measurement related to at least one of the one or more signal beams;

determining a position and location of an object associated with the navigation system based on a prediction of at least the second velocity measurement, the navigation system adjusted to perform within a prescribed measurement range based on a covariance of the first and second velocity measurements; and

wherein the performance adjustments made in determining the position and location of the object are operable independent of the navigation system maintaining each of the signal beams due to one or more external environmental conditions.

2. The method of claim 1, wherein projecting the first velocity measurement comprises isolating the first and second velocity measurements into inertial and sonar velocity components.

3. The method of claim 1, wherein determining the position and location further comprises:

predicting the position and location of the object using a second order integration of the source components of the first velocity measurement; and

based on a measurement sensitivity of at least one of the signal beams with respect to the covariance of the first and second velocity measurements, providing substantially constant navigation data to an output terminal of the navigation system.

4. The method of claim 3, wherein predicting the position and location comprises providing at least one form of sensor compensation using navigation-aiding measurements in near real time when one or more of the signal beams are determined to be within the prescribed measurement range.

5. The method of claim 3, wherein providing the substantially constant navigation data comprises comparing the prediction of the first and second velocity measurements with the second velocity measurement to adjust the covariance of the first and second velocity measurements in a direction of the at least one signal beam.

6. A computer-readable medium having executable instructions for implementing the method for navigating underwater according to claim 1.

7. A method of navigating underwater using signal beam velocity predictions, the method comprising:

providing inertial navigation and Doppler sonar measurements as first and second velocity measurements of a navigation system, the first velocity measurement projected along at least one signal beam orientation of the second velocity measurement as a navigation velocity projection;

comparing the navigation velocity projection with the orientation of the at least one signal beam to determine a velocity prediction of an object associated with the navigation system, wherein the velocity prediction is uninhibited by one or more external environmental conditions substantially surrounding the object; and

determining an orientation and position of the object within a prescribed measurement range of the navigation system based in part on a measurement residual of the first and second velocity measurements.

8. The method of claim 7, wherein providing the inertial navigation and the Doppler sonar measurements as the first and second velocity measurements further comprises determining a reference frame velocity within the prescribed measurement range of the navigation system.

9. The method of claim 7, wherein comparing the navigation velocity projection with the orientation of the at least one signal beam comprises comparing the measurement residual of the first velocity measurement with a predetermined measurement covariance of the second velocity measurement.

10. The method of claim 7, wherein determining the orientation and position of the object further comprises:

maintaining the projection of at least the first velocity measurement along the at least one signal beam due to the one or more external environmental conditions; and

providing substantially constant navigation data in near real time from an output terminal of the navigation system.

11. A computer-readable medium having executable instructions for implementing the method of predicting signal beam velocity in underwater navigation according to claim 7.

12. A navigation system, comprising:

a main sensor unit including;

an inertial measurement unit configured to provide an inertial position and heading of an object associated with the navigation system; and

a Doppler sonar operable to provide one or more sonar signal beams, the Doppler sonar configured to provide an orientation for the associated object based on a surface adjacent to the object; and

a processing unit configured to predict the velocity of the associated object based on an inertial acceleration measured in the main sensor unit and at least one of the sonar signal beams of the Doppler sonar, the processing unit further configured to;

determine the orientation of the at least one sonar signal beam within a prescribed range based on a measurement covariance of inertial and sonar signal beam velocities; and

maintain the velocity prediction of the associated object exclusive of one or more external environmental conditions.

13. The navigation system of claim 12 and further comprising a sensor reference unit, the sensor reference unit including:

a pressure sensor configured as a first navigational aid;

a magnetometer configured as a second navigational aid; and

a global positioning system (GPS) receiver, the GPS receiver operable to provide an initial orientation of the associated object.

14. The navigation system of claim 13, wherein the first navigational aid is operable to provide a vertical reference based on a gravitational compensation factor for underwater navigation.

15. The navigation system of claim 14, wherein the system is configured to perform within the prescribed range using at least one of the sonar signal beams and the first navigational aid.

16. The navigation system of claim 13, wherein the second navigational aid is operable to provide an orientation reference based on a surface magnetic field strength.

17. The navigation system of claim 12, wherein the processing unit further comprises:

a Kalman filter;

a measurement processing module in operative communication with the Kalman filter;

a strapdown navigation module in operative communication with the Kalman filter, the strapdown navigation module operable to provide integrated inertial and Doppler sonar navigation data of the associated object; and

a sensor compensation module in operative communication with the inertial measurement unit and the strapdown navigation module, the sensor compensation module configured to;

compensate prior navigation measurements from the main sensor module and the measurement processing module using navigation-aiding measurements provided in near real time; and

based on a measurement sensitivity of the at least one sonar signal beam, provide the integrated inertial and Doppler sonar navigation data of the associated object to the strapdown navigation module as substantially constant navigation data.

18. The navigation system of claim 12, wherein the inertial measurement unit is a micro electromechanical systems (MEMS)-based inertial measurement unit.

19. The navigation system of claim 12, further comprising:

a user input terminal, and

an output terminal operable to display the processed inertial position, attitude, and velocity measurements of the associated object.

20. The navigation system of claim 12, wherein the navigation system is an underwater navigation system.