Underwater investigation system providing unmanned underwater vehicle (UUV) guidance based upon updated position state estimates and related methods
First Claim
1. An underwater investigation system comprising:
- a host ship;
an unmanned underwater vehicle (UUV) comprising a propulsion device and a steering device;
at least one sonar system; and
a guidance controller configured toinitiate sonar range measurements between said host ship and said UUV using said at least one sonar system to emit sonar ranging pulses,for at least some of the sonar ranging pulses, estimate a respective UUV position state relative to said host ship at a time each sonar ranging pulse is emitted to define a series of successive UUV position state estimates,update UUV position state estimates in the series based upon reflections of the at least some sonar ranging pulses and completion of respective sonar range measurements, and propagate the updates to subsequent UUV position state estimates in the series, andcontrol said propulsion device and said steering device to guide movement of said UUV relative to said host ship based upon the updated position state estimates.
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Accused Products
Abstract
An underwater investigation system may include a host ship, a UUV including a propulsion device and a steering device, and at least one sonar system. The system may further include a guidance controller configured to initiate sonar range measurements between the host ship and the UUV using the at least one sonar system, and estimate a respective UUV position state relative to the host ship at the initiation of at least some of the sonar range value measurements to define a series of successive UUV position state estimates. The guidance controller may be further configured to update UUV position state estimates in the series based upon completion of their respective sonar range measurements, propagate the updates to subsequent UUV position state estimates in the series, and control the propulsion device and the steering device to guide movement of the UUV relative to the host ship based upon the updated position state estimates. The system thereby provides relatively precise guidance and navigation capabilities to maneuver the UUV relatively long distances away from the host ship.
33 Citations
24 Claims
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1. An underwater investigation system comprising:
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a host ship; an unmanned underwater vehicle (UUV) comprising a propulsion device and a steering device; at least one sonar system; and a guidance controller configured to initiate sonar range measurements between said host ship and said UUV using said at least one sonar system to emit sonar ranging pulses, for at least some of the sonar ranging pulses, estimate a respective UUV position state relative to said host ship at a time each sonar ranging pulse is emitted to define a series of successive UUV position state estimates, update UUV position state estimates in the series based upon reflections of the at least some sonar ranging pulses and completion of respective sonar range measurements, and propagate the updates to subsequent UUV position state estimates in the series, and control said propulsion device and said steering device to guide movement of said UUV relative to said host ship based upon the updated position state estimates. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A guidance controller for guiding an unmanned underwater vehicle (UUV) comprising a propulsion device and a steering device relative to a host ship, said guidance controller comprising:
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a guidance module configured to initiate sonar range measurements between said host ship and said UUV using at least one sonar system to emit sonar ranging pulses; and a position estimation module configured to for at least some of the sonar ranging pulses, estimate a respective UUV position state relative to said host ship at a time each sonar ranging pulse is emitted to define a series of successive UUV position state estimates, and update UUV position state estimates in the series based upon reflections of the at least some sonar ranging pulses and completion of respective sonar range measurements, and propagate the updates to subsequent UUV position state estimates in the series; said guidance module also configured to control said propulsion device and said steering device to guide movement of said UUV relative to said host ship based upon the updated position state estimates. - View Dependent Claims (11, 12, 13, 14)
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15. A method for guiding an unmanned underwater vehicle (UUV) comprising a propulsion device and a steering device relative to a host ship, the method comprising:
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initiating sonar range measurements between a host ship and an unmanned underwater vehicle (UUV) using at least one sonar system to emit sonar ranging pulses; for at least some of the sonar ranging pulses, estimating a respective UUV position state relative to the host ship at a time each sonar ranging pulse is emitted to define a series of successive UUV position state estimates; updating UUV position state estimates in the series based upon reflections of the at least some sonar ranging pulses and completion of their respective sonar range measurements, and propagating the updates to subsequent UUV position state estimates in the series; and controlling the propulsion device and the steering device to guide movement of the UUV relative to the host ship based upon the updated position state estimates. - View Dependent Claims (16, 17, 18, 19)
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20. A non-transitory computer-readable medium having computer-executable instructions for causing a guidance controller to guide an unmanned underwater vehicle (UUV) comprising a propulsion device and a steering device relative to a host ship, the computer-readable medium comprising:
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a guidance module configured to initiate sonar range measurements between the host ship and the UUV using at least one sonar system to emit sonar ranging pulses; and a position estimation module configured to for at least some of the sonar ranging pulses, estimate a respective UUV position state relative to the host ship at a time each sonar ranging pulse is emitted to define a series of successive UUV position state estimates, and update UUV position state estimates in the series based upon reflections of the at least some sonar ranging pulses and completion of their respective sonar range measurements, and propagate the updates to subsequent UUV position state estimates in the series; the guidance module also being configured to control the propulsion device and the steering device to guide movement of the UUV relative to the host ship based upon the updated position state estimates. - View Dependent Claims (21, 22, 23, 24)
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Specification