Method and Apparatus for Synchronizing Clocks Underwater Using Light and Sound

• US 20150188695A1
• Filed: 01/02/2015
• Published: 07/02/2015
• Est. Priority Date: 01/02/2014
• Status: Active Grant

• Current Assignee: L3 Technologies, Inc. (L3Harris Technologies, Inc.)
• Original Assignee: TrackServer Inc.
• Inventors: Crowell, Jonathan C.
• Granted Patent: US 9,645,272 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: G01S 19/13 Receivers
• CPC Class Codes: G01V 1/3852 to the seabed
• CPC Class Codes: G01V 2200/12 Clock synchronization-related issues
• CPC Class Codes: G04C 11/00 Synchronisation of independently-driven clocks radio-controlled time-pieces G04R
• CPC Class Codes: G04G 7/00 Synchronisation radio-controlled time-pieces G04R
• CPC Class Codes: H04B 10/80 Optical aspects relating to the use of optical transmission for specific applications, not provided for in groups H04B10/03 - H04B10/70, e.g. optical power feeding or optical transmission through water
• CPC Class Codes: H04B 11/00 Transmission systems employing sonic, ultrasonic or infrasonic waves
• CPC Class Codes: H04B 13/02 Transmission systems in which the medium consists of the earth or a large mass of water thereon, e.g. earth telegraphy
• CPC Class Codes: H04L 7/0075 with photonic or optical means

Abstract

Methods and systems for synchronizing clocks used in underwater devices is described. All clocks have some drift due to frequency accuracy and this disclosure provides a method for periodically synchronizing clocks to an accurate master clock to remove long term drift. A synchronization device can use an accurate clock and hardware to transmit both a sound wave and light pulse at the same point in time. Remote slave clocks can detect the light first, and later the sound, allowing them to calculate the distance the pulse had to travel. The clocks can then synchronize their time to the master clock canceling out any drift. The synchronization device can be packaged in a waterproof housing and can be moved around on a periodic basis between the clock on an underwater robot or any other means.

Claims

1. A method for synchronizing underwater slave clock devices from a master clock device wirelessly, comprising:

transmitting from the master clock device a light pulse and a sound pulse;

receiving at a slave clock device the light pulse and the sound pulse;

calculating at the slave clock device, based upon the difference in arrival times of the light pulse and the sound pulse, a distance between the master clock device and the slave clock device;

calculating at the slave clock device, based upon the distance between the master clock device and the slave clock device, the time at which the light pulse was transmitted from the master clock device;

applying at the slave clock device a time offset to a clock on the slave clock device based upon a difference between the time that the light pulse was transmitted according to a clock on the master clock device and the calculated light pulse transmission time calculated at the slave clock device.

2. The method of claim 1, wherein light pulses can be sent and received by both the master and slave clock devices for two way transmission of digital data between the master and slave clock devices.

3. The method of claim 1, wherein sound pulses can be sent and received by both the master and slave clock devices for two way transmission of digital data between the master and slave clock devices.

4. The method of claim 1, wherein the master clock device includes logic for synchronizing the master clock to the GPS atomic clock when the master clock device is located so as to receive GPS signals.

5. The method of claim 1, wherein the master clock device is located on an autonomous underwater vehicle.

6. A system for keeping synchronized time underwater comprising:

a master clock device including a master clock, a light transmitter, and a sound transmitter;

a slave clock device including a slave clock, a light receiver, a sound receiver, and a computing device implementing logic for adjusting the slave clock, the logic;

i. calculating, based upon the difference in arrival times of the light pulse and the sound pulse, a distance between the master clock device and the slave clock device;

ii. calculating, based upon the distance between the master clock device and the slave clock device, the time at which the light pulse was transmitted from the master clock device; and

iii. applying a time offset to the slave clock based upon a difference between the time that the light pulse was transmitted according to the master clock and the calculated light pulse transmission time calculated at the slave clock device.

7. The system of claim 6, wherein light pulses can be sent and received by both the master and slave clock devices for two way transmission of digital data between the master and slave clock devices.

8. The system of claim 6, wherein sound pulses can be sent and received by both the master and slave clock devices for two way transmission of digital data between the master and slave clock devices.

9. The system of claim 6, wherein the master clock device includes logic for synchronizing the master clock to the GPS atomic clock when the master clock device is located so as to receive GPS signals.

10. The system of claim 6, wherein the master clock device is located on an autonomous underwater vehicle.

11. A system for keeping synchronized time underwater comprising:

a master clock device including a master clock and a light transmitter;

a slave clock device including a slave clock, a light receiver, and a computing device implementing logic for adjusting the slave clock, the logic;

i. determining a distance between the master clock device and the slave clock device;

ii. calculating, based upon the distance between the master clock device and the slave clock device a time at which a light pulse transmitted from the master clock device is received by the slave clock device, the time at which the light pulse was transmitted from the master clock device; and

iii. applying a time offset to the slave clock based upon a difference between the time that the light pulse was transmitted according to the master clock and the calculated light pulse transmission time calculated at the slave clock device.