DE60015609D1 - Gerät zum mit grosser genauigkeit niedersetzen von gegenständen auf eine unterwasser-zielposition und verfahren zum steuern eines solchen gerätes - Google Patents

Gerät zum mit grosser genauigkeit niedersetzen von gegenständen auf eine unterwasser-zielposition und verfahren zum steuern eines solchen gerätes

Info

Publication number
DE60015609D1
DE60015609D1 DE60015609T DE60015609T DE60015609D1 DE 60015609 D1 DE60015609 D1 DE 60015609D1 DE 60015609 T DE60015609 T DE 60015609T DE 60015609 T DE60015609 T DE 60015609T DE 60015609 D1 DE60015609 D1 DE 60015609D1
Authority
DE
Germany
Prior art keywords
target position
underwater target
deploying
drive
arrangement arranged
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
DE60015609T
Other languages
English (en)
Inventor
Francois Bernard
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=19760681&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=DE60015609(D1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Individual filed Critical Individual
Application granted granted Critical
Publication of DE60015609D1 publication Critical patent/DE60015609D1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63J—AUXILIARIES ON VESSELS
    • B63J99/00—Subject matter not provided for in other groups of this subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B79/00—Monitoring properties or operating parameters of vessels in operation
    • B63B79/10—Monitoring properties or operating parameters of vessels in operation using sensors, e.g. pressure sensors, strain gauges or accelerometers
    • B63B79/15—Monitoring properties or operating parameters of vessels in operation using sensors, e.g. pressure sensors, strain gauges or accelerometers for monitoring environmental variables, e.g. wave height or weather data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B79/00—Monitoring properties or operating parameters of vessels in operation
    • B63B79/20—Monitoring properties or operating parameters of vessels in operation using models or simulation, e.g. statistical models or stochastic models
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B79/00—Monitoring properties or operating parameters of vessels in operation
    • B63B79/40—Monitoring properties or operating parameters of vessels in operation for controlling the operation of vessels, e.g. monitoring their speed, routing or maintenance schedules
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
    • B63C11/36—Diving chambers with mechanical link, e.g. cable, to a base of closed type
    • B63C11/42—Diving chambers with mechanical link, e.g. cable, to a base of closed type with independent propulsion or direction control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/42—Towed underwater vessels
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B19/00—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables
    • E21B19/002—Handling rods, casings, tubes or the like outside the borehole, e.g. in the derrick; Apparatus for feeding the rods or cables specially adapted for underwater drilling
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B41/00—Equipment or details not covered by groups E21B15/00 - E21B40/00
    • E21B41/04—Manipulators for underwater operations, e.g. temporarily connected to well heads
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/0009—Transmission of position information to remote stations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
    • G01S5/22—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/74—Systems using reradiation of acoustic waves, e.g. IFF, i.e. identification of friend or foe
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Ocean & Marine Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Mining & Mineral Resources (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Geology (AREA)
  • Environmental & Geological Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Fluid Mechanics (AREA)
  • Probability & Statistics with Applications (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Atmospheric Sciences (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Earth Drilling (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
  • Navigation (AREA)
  • Aeration Devices For Treatment Of Activated Polluted Sludge (AREA)
  • Cleaning By Liquid Or Steam (AREA)
  • Underground Or Underwater Handling Of Building Materials (AREA)
  • Control Of Position Or Direction (AREA)
  • Control And Safety Of Cranes (AREA)
  • Electrophonic Musical Instruments (AREA)
  • Measurement Of Mechanical Vibrations Or Ultrasonic Waves (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Sampling And Sample Adjustment (AREA)
  • Paper (AREA)
DE60015609T 2000-03-20 2000-03-20 Gerät zum mit grosser genauigkeit niedersetzen von gegenständen auf eine unterwasser-zielposition und verfahren zum steuern eines solchen gerätes Expired - Lifetime DE60015609D1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/NL2000/000184 WO2001070568A1 (en) 2000-03-20 2000-03-20 Apparatus for deploying a load to an underwater target position with enhanced accuracy and a method to control such apparatus

Publications (1)

Publication Number Publication Date
DE60015609D1 true DE60015609D1 (de) 2004-12-09

Family

ID=19760681

Family Applications (3)

Application Number Title Priority Date Filing Date
DE60039374T Expired - Fee Related DE60039374D1 (de) 2000-03-20 2000-03-20 Anordnung eines akustischen Arrays mit einem Schallgeschwindigkeitsmesser
DE60045882T Expired - Lifetime DE60045882D1 (de) 2000-03-20 2000-03-20 Navigationsprozessor, Prozessoranordnung und Messsystem mit einem solchen Navigationsprozessor sowie Verfahren zur Messung einer Position und einer Ausrichtung in einem Unterwassersystem
DE60015609T Expired - Lifetime DE60015609D1 (de) 2000-03-20 2000-03-20 Gerät zum mit grosser genauigkeit niedersetzen von gegenständen auf eine unterwasser-zielposition und verfahren zum steuern eines solchen gerätes

Family Applications Before (2)

Application Number Title Priority Date Filing Date
DE60039374T Expired - Fee Related DE60039374D1 (de) 2000-03-20 2000-03-20 Anordnung eines akustischen Arrays mit einem Schallgeschwindigkeitsmesser
DE60045882T Expired - Lifetime DE60045882D1 (de) 2000-03-20 2000-03-20 Navigationsprozessor, Prozessoranordnung und Messsystem mit einem solchen Navigationsprozessor sowie Verfahren zur Messung einer Position und einer Ausrichtung in einem Unterwassersystem

Country Status (15)

Country Link
US (3) US6771563B1 (de)
EP (3) EP1265785B1 (de)
JP (1) JP4197872B2 (de)
CN (1) CN1253345C (de)
AT (3) ATE281345T1 (de)
AU (2) AU2000234653B2 (de)
BR (1) BR0017171A (de)
CA (1) CA2401587C (de)
DE (3) DE60039374D1 (de)
DK (2) DK1481891T3 (de)
EA (1) EA004201B1 (de)
ES (2) ES2309444T3 (de)
MX (1) MXPA02009187A (de)
NO (2) NO20024432L (de)
WO (1) WO2001070568A1 (de)

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CN109765523B (zh) * 2018-12-21 2022-11-01 山东省科学院海洋仪器仪表研究所 基于自适应akf的单应答器斜距水声定位方法及系统
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US7277359B2 (en) 2007-10-02
US6771563B1 (en) 2004-08-03
DK1481891T3 (da) 2008-11-10
JP2003528004A (ja) 2003-09-24
AU2000234653B2 (en) 2004-10-21
AU3465300A (en) 2001-10-03
EP1908682B1 (de) 2011-04-20
EP1481891A1 (de) 2004-12-01
JP4197872B2 (ja) 2008-12-17
EP1908682A1 (de) 2008-04-09
CA2401587C (en) 2007-07-31
DK1265785T3 (da) 2005-02-21
ES2231166T3 (es) 2005-05-16
NO20081403L (no) 2002-11-20
BR0017171A (pt) 2003-07-01
NO20024432L (no) 2002-11-20
MXPA02009187A (es) 2004-05-04
WO2001070568A1 (en) 2001-09-27
CN1253345C (zh) 2006-04-26
EA200201005A1 (ru) 2003-02-27
ATE399707T1 (de) 2008-07-15
DE60045882D1 (de) 2011-06-01
NO20024432D0 (no) 2002-09-17
ATE506250T1 (de) 2011-05-15
EP1265785A1 (de) 2002-12-18
CN1450967A (zh) 2003-10-22
US20040233784A1 (en) 2004-11-25
US20070104031A1 (en) 2007-05-10
EP1265785B1 (de) 2004-11-03
EP1481891B1 (de) 2008-07-02
CA2401587A1 (en) 2001-09-27
EA004201B1 (ru) 2004-02-26
ATE281345T1 (de) 2004-11-15
US7173880B2 (en) 2007-02-06
DE60039374D1 (de) 2008-08-14

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