Inertial measurement underwater tracking system
First Claim
1. An underwater tracking system comprising:
- (a) an underwater vehicle;
(b) an inertial measurement unit mounted on said vehicle including measuring means for measuring information from which the position of said vessel may be defined;
(c) a position device for determining the position of said vessel from the output of said inertial measurement unit;
(d) the output of said inertial measurement unit applied to the input of said position device;
(e) a transmitter; and
(f) the output of said position device applied to the input of said transmitter for transmission to a remote receiver for determining the position of said underwater vehicle.
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Accused Products
Abstract
An inertial measurement underwater tracking system which determines range sition onboard an underwater vehicle using inertial navigation techniques. The system uses acoustic telemetry to relay the range position from the vehicle to an operations site. The position data is also recorded onboard the vehicle for post-run analysis. An onboard computer receives the inertial measurements from an inertial measurement unit and computes vehicle position with respect to an initialized reference. An acoustic transmitter receives the measurements, formats the data and transmits it by acoustic telemetry. An underwater hydrophone receives the acoustic telemetry and inputs the data to an acoustic processor to reconstruct the original position data. A range computer processes in real-time the data, and displays and records the time history of vehicle location on the range. After recovery the onboard recorded data is played back into the range computer to provide a maximum accuracy, continuous vehicle-run history.
29 Citations
14 Claims
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1. An underwater tracking system comprising:
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(a) an underwater vehicle; (b) an inertial measurement unit mounted on said vehicle including measuring means for measuring information from which the position of said vessel may be defined; (c) a position device for determining the position of said vessel from the output of said inertial measurement unit; (d) the output of said inertial measurement unit applied to the input of said position device; (e) a transmitter; and (f) the output of said position device applied to the input of said transmitter for transmission to a remote receiver for determining the position of said underwater vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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Specification