Optical Based Pose Detection For Multiple Unmanned Underwater Vehicles

• US 20160253906A1
• Filed: 04/07/2015
• Published: 09/01/2016
• Est. Priority Date: 04/08/2014
• Status: Active Grant

• Current Assignee: University of New Hampshire
• Original Assignee: University of New Hampshire
• Inventors: Celikkol, Barbaros, Eren, Firat, Peri, Shachak, Rzhanov, Yuri, Swift, M. Robinson, Thein, May-Win
• Granted Patent: US 9,812,018 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B63B 2203/00 Communication means
• CPC Class Codes: B63B 2211/02 Oceanography
• CPC Class Codes: B63G 2008/004 autonomously operating
• CPC Class Codes: B63G 8/001 Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations self-propelled or direction controlled diving chambers with mechanical link to a base B63C11/42
• CPC Class Codes: G01S 3/784 using a mosaic of detectors
• CPC Class Codes: G05D 1/12 Target-seeking control
• CPC Class Codes: G08C 23/00 Non-electrical signal transmission systems, e.g. optical systems
• CPC Class Codes: G08G 3/00 Traffic control systems for marine craft marking of navigational route B63B22/16, B63B51/00
• 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

Abstract

A system and method for optical communication between multiple UUVs, more specifically, for leader-follower formations between UUVs. The system focuses on the characterization and modeling of a 1-dimensional and/or 3-dimensional light field produced from a light source mounted on a Leader UUV, which is detected by one or more follower UUVs. Communication algorithms are used to monitor the UUV'"'"'s motion and orientation utilizing simulators, look up tables, and the like. A variety of detectors arrays can be used in a variety of wavelengths depending on the desired application.

Claims

1. An optical communication instrumentation system for leader-follower formations of unmanned underwater vehicles comprising,

a leader unmanned underwater vehicle and a follower unmanned underwater vehicle,

a light source mounted on the leader unmanned underwater vehicle producing a 3-dimensional light field,

an optical detector array mounted on the follower unmanned underwater vehicle for detecting the light field

an algorithm for controlling and detecting distance and controlling motion and orientation between the leader unmanned underwater vehicles and the follower unmanned underwater vehicle.