METHOD FOR INERTIAL NAVIGATION UNDER WATER
First Claim
1. A method of underwater navigation of scuba divers or autonomous, manned or remotely controlled underwater vehicles whereinthe signals of at least one sensor, comprising at least one acceleration sensor for determining the actual position are integratively analyzed,the precision is improved by utilizing reference measurements, anda correction takes place by a correction vector that is obtained from the transformation of the vector of accelerations measured by the acceleration sensor in the diving computer coordinate system in the global coordinate system, comparison with at least one of the reference measurement values, determination of the deviation and the reverse transformation of the deviation into the diving computer coordinate system.
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Abstract
The invention relates to a method for underwater navigation, particularly for scuba divers, and for autonomous, manned, or remote-controlled underwater vessels, wherein the signals of at least one sensor, comprising at least one acceleration sensor for determining the actual position, are integratively analyzed, accuracy is improved by means of the use of reference measurements, and a correction is carried out by way of a correction vector obtained from the transformation of the vector of the accelerations measured by the acceleration sensor in the diving computer coordinate system into the global coordinate system, the comparison to at least one of the reference measurement values, the determination of the deviation and the reverse transformation of the deviation to the diving computer coordinate system.
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32 Claims
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1. A method of underwater navigation of scuba divers or autonomous, manned or remotely controlled underwater vehicles wherein
the signals of at least one sensor, comprising at least one acceleration sensor for determining the actual position are integratively analyzed, the precision is improved by utilizing reference measurements, and a correction takes place by a correction vector that is obtained from the transformation of the vector of accelerations measured by the acceleration sensor in the diving computer coordinate system in the global coordinate system, comparison with at least one of the reference measurement values, determination of the deviation and the reverse transformation of the deviation into the diving computer coordinate system.
Specification