Method for navigating an undersea vehicle
First Claim
1. A method for navigating an undersea vehicle (12), having navigation sensors (17) for measuring and continuously outputting data of the absolute speed of the undersea vehicle, a Doppler log (14) for measuring the relative speed of the undersea vehicle in successive measuring operations, and a navigation filter (18) for calculating navigation data relating to the position, attitude and absolute vehicle speed of the undersea vehicle (12) using data from navigation sensors (17) and the measured relative speed values from the Doppler log (14), said method comprising:
- subdividing the water area (10) through which the undersea vehicle (12) travels into regions having a finite dimension (d) at least in the vertically oriented z axis of a Cartesian coordinate system (11);
determining currents in the water area inside the regions and storing determined currents as region-specific currents (1s), at least during the submerging and/or surfacing phase of the undersea vehicle (12), wherein said region specific currents (1s) are determined from the relative vehicle speeds (wmn) measured by the Doppler log (14) in successive measuring operations and the absolute vehicle speeds (vF(tn)) continuously output by the navigation filter (17);
inputting said stored region-specific currents (ls) to the navigation filter (18) dependent upon the region through which the undersea vehicle (12) is respectively instantaneously traveling; and
calculating said navigation data.
1 Assignment
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Accused Products
Abstract
In a method for navigating an undersea vehicle (12), navigation data about position, orientation, and absolute vehicle speed of the undersea vehicle (12) are determined from measurement data delivered by navigation sensors (17) via a navigation filter (18) which incorporates the measurement values of a Doppler log (14). To achieve a highly accurate tracking of the course taken by the undersea vehicle (12), particularly during submerging and surfacing phases, the stretch of water (10) traversed by the undersea vehicle (12) is divided into regions (13) which at least in the vertically oriented z-axis have a finite dimension within a Cartesian coordinate system (11). During the voyage of the undersea vehicle (12), the flow rates in the stretch of water (10) in relation to the individual spatial layers (13) are determined and stored from the relative vehicle speeds measured by the Doppler log (14) in successive measurement processes, and from the absolute vehicle speeds issued continuously by the navigation filter (18). The stored flow rates are input into the navigation filter (18) (FIG. 1) in accordance with the respective spatial layer (13) reached by the undersea vehicle (12).
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Citations
11 Claims
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1. A method for navigating an undersea vehicle (12), having navigation sensors (17) for measuring and continuously outputting data of the absolute speed of the undersea vehicle, a Doppler log (14) for measuring the relative speed of the undersea vehicle in successive measuring operations, and a navigation filter (18) for calculating navigation data relating to the position, attitude and absolute vehicle speed of the undersea vehicle (12) using data from navigation sensors (17) and the measured relative speed values from the Doppler log (14), said method comprising:
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subdividing the water area (10) through which the undersea vehicle (12) travels into regions having a finite dimension (d) at least in the vertically oriented z axis of a Cartesian coordinate system (11); determining currents in the water area inside the regions and storing determined currents as region-specific currents (1s), at least during the submerging and/or surfacing phase of the undersea vehicle (12), wherein said region specific currents (1s) are determined from the relative vehicle speeds (wmn) measured by the Doppler log (14) in successive measuring operations and the absolute vehicle speeds (vF(tn)) continuously output by the navigation filter (17); inputting said stored region-specific currents (ls) to the navigation filter (18) dependent upon the region through which the undersea vehicle (12) is respectively instantaneously traveling; and calculating said navigation data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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Specification