EP2269002A2 - Procédé de navigation par inertie sous l'eau - Google Patents

Procédé de navigation par inertie sous l'eau

Info

Publication number
EP2269002A2
EP2269002A2 EP09732157A EP09732157A EP2269002A2 EP 2269002 A2 EP2269002 A2 EP 2269002A2 EP 09732157 A EP09732157 A EP 09732157A EP 09732157 A EP09732157 A EP 09732157A EP 2269002 A2 EP2269002 A2 EP 2269002A2
Authority
EP
European Patent Office
Prior art keywords
correction
diver
sensors
dive
coordinate system
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.)
Withdrawn
Application number
EP09732157A
Other languages
German (de)
English (en)
Inventor
Günter Schmitz
Tim Schmitz
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.)
Fachhochschule Aachen
Original Assignee
Fachhochschule Aachen
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
Application filed by Fachhochschule Aachen filed Critical Fachhochschule Aachen
Publication of EP2269002A2 publication Critical patent/EP2269002A2/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G01C21/1654—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with electromagnetic compass

Definitions

  • the invention relates to a method for inertial navigation under water, especially for recreational and recreational divers.
  • Much more useful would be a system that knows the position of the diver, at least in relation to the entry point and the diver thus can indicate a direction and distance to the entry point. For this, the path the diver has traveled should be recorded.
  • GPS-based navigation systems are unsuitable due to the depth of penetration of the satellite signals below the surface of the water (see EP 1631830 A2, US 6,972,715, US 6,701,252, US 6,791,490 and US 6,807,127).
  • inertial navigation systems are known, but they are out of the question due to the size and cost of this application.
  • novel micromechanical acceleration sensors are able to measure precise translational and rotational accelerations or angular velocities. By integrating these signals, the 3-dimensional path traveled can be determined, from which the direction and distance to the starting point can be determined.
  • EP 0870172 B1 describes a system for vehicle navigation by means of acceleration sensors, in which a GPS signal is used for the calibration.
  • Such errors of the sensors can be electronically compensated for by reference signals such as the measured ambient pressure (depth information) and, if necessary, by a magnetic compass and, if appropriate, additionally when GPS signals are receivable (for example at or near the surface).
  • reference signals such as the measured ambient pressure (depth information) and, if necessary, by a magnetic compass and, if appropriate, additionally when GPS signals are receivable (for example at or near the surface).
  • the present invention describes a method for underwater navigation for scuba divers and for autonomous, manned or remotely controlled underwater vehicles in which the signals of one or more particular translational acceleration sensors and rotational angle and / or angular acceleration sensors and / or yaw rate sensors for determining the current position are integratively evaluated and the Accuracy is improved by using reference measurements by correction by a correction vector resulting from the transformation of the vector of the accelerations measured by an acceleration sensor, in particular a translational acceleration sensor in the dive computer coordinate system, into the world coordinate system, comparison with at least one of the reference vectors. measured values, determination of the deviation and the inverse transformation of the deviation in the dive computer coordinate system is obtained.
  • the errored acceleration vectors of at least one of the acceleration sensors may e.g. be corrected by determining a correction vector applied to the errored acceleration vector, wherein the correction vector can be determined as follows:
  • Fig. 1 shows a system for determining and recording the position information by means of an inertial navigation system (INS, Inertial Navigation System).
  • INS Inertial Navigation System
  • Fig. 2 shows the principle of implementation of the correction method according to the invention.
  • Fig. 5 shows an example of a weighting function for suppressing correction values that are not sufficiently reliable.
  • FIG. 6 shows the application of the evaluation method illustrated here to the x-axis on the basis of a graph.
  • Fig. 7 shows an alternative to Figure 3 embodiment.
  • Fig. 8 shows a further alternative.
  • the diver usually carries the dive computer either on his arm or in a console. This changes the orientation of the computer to the environment (the world) constantly. Thus, in order to determine the movement in the "environment” or "world coordinate system", therefore, the movement or the acceleration forces acting on the dive computer must be converted by the dive computer coordinate system into the world coordinate system.
  • the dive computer coordinate system can be arbitrarily set, for example, depending on the installation position (or mounting orientation) of the measuring chip used as the sensor.
  • the coordinate system of the dive computer is oriented such that when the observer views the display of a horizontal dive computer exactly from above, the x-axis to the right, the y-axis relative to the eyes of the observer pointing "up" and pointing the z-axis exactly into the eye, these axes will be referred to in the following description as XT, y T and z ⁇ .
  • the world coordinate system can also be chosen completely arbitrarily.
  • the x-axis points to the east
  • the y-axis points north and the z-axis perpendicular from the earth's surface
  • z 0 is the current water surface, so for example to represent the sea level.
  • the axes in the world coordinate system are referred to below as Xw, yw and Zw.
  • Fig. 1 shows a system for determining and recording the position information by means of an inertial navigation system (INS, Inertial Navigation System).
  • INS Inertial Navigation System
  • the output data of the angular acceleration sensor 2, the three angular accelerations ⁇ ,. ⁇ and ⁇ are converted by double integration in the integrator block 2a in solid angle and converted in the angle correction block 6 to the final solid angles ⁇ , ⁇ , ⁇ . How this correction is done will be described later.
  • the output data of the three-axis acceleration sensor 1 are naturally present as acceleration values in the coordinate system of the dive computer. These acceleration data are denoted by x-r, YT and Zj, where the index T indicates the dive computer coordinate system. The lowercase letters mean that they are accelerations. Capital letters are used here to identify position information.
  • the acceleration values are transformed from the dive computer coordinate system into the world coordinate system.
  • the Z axis of the world coordinate system points in the direction of the center of the earth, that is to say "downwards.” For this reason, the gravitational acceleration 10 must first be subtracted to evaluate the movement in the Z direction. This is about 9.81 m / s 2 .
  • the acceleration can then be converted into a path with the aid of a double integration in the integrator block 1a (coordinates Xw , Yw, Zw ,) - this is fed to a recording device 5 (Log) for the (three-dimensional) path. There, the path information is then available for recording and further use for return route information, etc.
  • the transformation matrix 3 (T) can be composed of individual matrices for the individual rotations. Then there are some clearer relationships that are easier to understand.
  • the matrix T can be formed from the individual transformations around the respective axes: With:
  • ⁇ represents the angle of rotation about the x-axis
  • ⁇ the angle of rotation about the y-axis
  • ⁇ the angle of rotation about the x-axis
  • FIG. 1 shows the principle of implementation of the correction method according to the invention. This figure has been inserted for a better understanding of the following Figure 3, in which the course of the correction is set forth in more detail. For the sake of simplicity, the determination of the solid angles has not been shown with respect to FIG. Only block 6 is shown for feeding the angles into the transformation matrix 3 (T).
  • the path calculation unit 12b is extended as compared to the path calculation unit 12a of FIG. 1 as follows: Between the acceleration sensor 1 and the transformation matrix 3 is connected a correction block 11 which corrects errors of the acceleration values of the sensor unit 1 with respect to offset and linearity.
  • the sensor unit 1 thus supplies the error-prone signals X ⁇ + ⁇ x, y ⁇ + ⁇ y and Z ⁇ + ⁇ z.
  • correction block 11 these signals are freed of their errors. Even if the representation here suggests that only offset errors are eliminated and no linearity errors, they are very well corrected since both error types are determined in the evaluation unit 9 (FIG. 3) and taken into account in the correction unit. For the sake of clarity, however, the illustration in FIG. 2 has been kept as simple as possible.
  • the path calculation unit 12 of FIG. 3 almost corresponds to the path calculation unit 12b from FIG. 2.
  • the Z coordinate is not determined here from the acceleration sensor signals but taken directly from a depth information 7 that originates from the pressure evaluation of the dive computer for determining the depth.
  • This "print depth" 7, which is considered correct, is now also used to determine the errors of the sensor signals in a correction value calculation block 13.
  • correction value calculation block 13 The function of the correction value calculation block 13 is as follows:
  • the faulty sensor data X ⁇ + ⁇ x, y ⁇ + ⁇ y and Z ⁇ + ⁇ z are first converted from the dive computer coordinate system by means of the transformation matrix 3a into the world coordinate system.
  • This transformation matrix is identical to the transformation matrix 3.
  • the error-prone acceleration values Xw + ⁇ x ', yw + ⁇ y' and Zw + ⁇ z ' are now available in the world coordinate system.
  • the marking of the error variables ⁇ x ', ⁇ y', ⁇ z 'with the stroke should make it clear that they are not the original error values ⁇ x, ⁇ y and ⁇ z.
  • the two other channels for the x and y acceleration are reduced to their pure error values using the currently determined error-corrected values for x and y in the world coordinate system.
  • the quantity Xw of x w + ⁇ x 'and the quantity yw of yw + ⁇ y' are subtracted and remain ⁇ x 'and ⁇ y'.
  • These are fed together with the error value ⁇ z 'to a transformation matrix 4 (T "1 ) inverse to the transformation matrix 3a (T) .
  • T "1 ) inverse to the transformation matrix 3a (T) .
  • the error quantities ⁇ x", ⁇ y "and ⁇ z" are now obtained at the output of the transformation Dive computers are available. These values are fed to an evaluation unit 9 for determining the correction factors.
  • This evaluation unit 9 must now determine the correction values ⁇ x ", ⁇ yK and ⁇ ZK.
  • a corresponding weighting vector for the depth information can be determined, for example, from the transformation of a vector having only one component in the Z direction.
  • a vector which is occupied with '1' only in the Z direction is applied to the input of an inverse transformation matrix 4a and thus transformed from the world coordinate system into that of the dive computer.
  • the inverse transformation matrix 4a At the output of the inverse transformation matrix 4a, there are now factors which state to what extent the respective sensor (of the dive coordinate system) was involved in the formation of the depth value (Z-axis world) (participation value CB).
  • a digital moving averaging is used in which the algorithm follows the principle of calculating a new average by adding the new input value only to a certain percentage P and the old average to the remaining percentage 100% -P in the new mean value.
  • ⁇ x ⁇ (k) ⁇ x "-c M -c Cx + ⁇ x ⁇ (kl) - (lc M -c Cx )
  • Dy ⁇ (k) Dy "-c -c M Cy + Dy ⁇ (k) - (lc-c M Cy)
  • ⁇ z ⁇ (k) ⁇ z "-c M -c Cz + ⁇ z ⁇ (kl) - (lc M -c Cz )
  • the evaluation unit 9a for the x-axis (in the dive computer coordinate system), the error quantity ⁇ x "(18) first passes to a multiplier 15a in which it matches the product of the mean constant CM (21) and the confidence factor Cc x (16) ( The second component for the correction value ⁇ x «(18) newly formed in the summer 19 results from the product formed in the multiplier 15c from the output value 18 delayed by the delay element 20 and the product of CM withdrawn from FIG and Cc.
  • the correction factor can in turn be decomposed in an iterative process into an offset component and a product component.
  • ⁇ o x represents the offset and ⁇ m x represents the product fraction (slope fraction).
  • the input vector for the inverse transformation matrix in FIG. 4a is occupied by '1' not in the z-direction but in the respective relevant spatial direction with '1' and in the non-relevant spatial directions with '0'.
  • the dewarmer may also be prompted (for example, via an audible alarm signal) to remain at rest for a short period of time so that the sensor can reset the integrators and thus not cause erroneous speed information to error in the further position calculation.
  • the angle correction takes place in principle in the same manner as previously described for the translational accelerations.
  • a magnetic sensor based on the earth's magnetic field electrosonic compass
  • Another possibility is to use the direction of the gravity vector, which always points in the direction of the earth's axis with a deviation of the perpendicular direction of only 0.01 °.
  • the mean direction vector of the maximum accelerations can be used. This can happen, in particular, when the dive computer is at rest, ie not moved, which can be derived from the non-changing signals for translational and rotational accelerations. Possibly.
  • An accurate recalibration of the angle sensors can be done from time to time by switching off the dive computer delayed or even of time at time automatically turns on or wakes up automatically from a hibernation.
  • Today's dive computers continue to run at rest to monitor the ambient pressure or a calculation of so-called desaturation times.
  • the recalibration of the translational sensors can also be done in this mode.
  • the calibration process is suspended for a particular group of sensors.
  • there is no suitable depth information from the pressure sensor outside of the water recognizable by the water contact switch, as already mentioned above or even when there is depth information from the pressure signal of approximately zero.
  • the calibration of the translational acceleration sensors is then suspended by e.g. the confidence factors are all set to zero.
  • the calibration of the angle sensors can continue to operate in this. This, in turn, should be suspended if evidently implausible results from the evaluation of the magnetic field sensors are present (ie, for example, marked change in the measured magnetic field direction with only small values of the angular velocity, which are determined with the aid of the angular velocity sensors.
  • the path traveled under water can be recorded with the aid of position information from acceleration sensors, angle sensors, in particular angular acceleration sensors, rotation rate sensors, magnetic field sensors and / or pressure sensors for storing the position information as a function of time and / or a counter reading.
  • the reference measurement for the coordinates X and Y in the world coordinate system as well as sensor calibration may be as long as e.g. near the surface, a GPS signal is available via the GPS system.
  • a correction of the propagation time of the GPS data with respect to the propagation characteristics of the GPS signals under water can be done. Due to the high relative dielectric constant of the water of about 80, other propagation velocities of the GPS signals under water result.
  • the depth information from the GPS signals must be corrected here. In the simplest case, the depth is corrected by the factor of the quotient between the propagation velocity of the electromagnetic waves in the free space and that under water.
  • the method according to the invention can be used particularly effectively in combination with a graphic display on which the direction and the distance to reference points are displayed. Also, the location of the reference points and the previously dived path can be displayed on a map-like representation. Also, corresponding depth information about the reference points or the path can be displayed. The path or the reference points can also be displayed in different colors depending on the depth, so that the display remains clear, but the diver is still an additional navigation information available.
  • POIs Points of Interest
  • previously provided maps can be loaded onto the diver's computer to facilitate navigation and orientation.
  • the north orientation of the system can be determined by magnetic compass at the beginning and corrected if necessary by long-term averaging.
  • the movements of the diver can also be used when (still) the availability of a GPS signal is available.
  • the dived path as well as the set reference points can be read after completion of the dive and displayed with or without map.
  • the position of a diver may also be transmitted to another diver by radio, along with other data. This is especially helpful when leading larger groups. Also to the dive boat or the dive center such information can be sent.
  • One advantage is that a responsible on-shore dive operator can check where the diver is to possibly direct the boat there, initiate rescue operations, or also send new reference points or destinations (e.g., a new boat position) to the diver.
  • radio is meant not only high-frequency electromagnetic communication, but rather any kind of wireless communication is meant to be understood as e.g. Ultrasound or light.
  • the depth measured from the ambient pressure can be corrected via the salinity of the water and thus the water density.
  • An appropriate measurement of salinity can be made by measuring the conductivity of the water, e.g. via electrodes that are already present for activation of the dive computer in contact with water.
  • a determination of salinity can be made from the comparison of this information with that of the ambient pressure sensor.
  • manual input of, for example, latitude can be made.
  • a known temperature dependence of the sensors can be compensated by including the signals of a temperature sensor usually present in the dive computer. Also, other temperature sensors can be used, each housed in the vicinity of the sensors.
  • An increase in the accuracy of the calibration of the sensor can be achieved if the influence of the wave motion is reduced to the pressure measurement, for example by averaging the depth.
  • the period duration of the wave motion can also be detected by frequency analysis and thus a favorable measure for the time constant or the period of averaging can be determined (single or integer multiple of the fundamental frequency).
  • a measure of the ripple can be determined by the size of the pressure fluctuation is evaluated. This evaluation can be done in different ways.
  • the amplitude of the pressure fluctuation is determined in a frequency range in which wave frequencies usually occur in the bank area, and from this the fluctuations in the water column are converted over the diver.
  • the same, known formula is used as for the conversion of the water pressure in the depth.
  • a conversion factor 10m / bar is perfectly suitable.
  • a recording of the ripple can then take place. This recording can be done as a single value for a dive or in a sequence of values that maps the course of the ripple.
  • the gravitational constant 10 (see Fig. 1) is not exactly the same everywhere, but depending on various conditions, in particular the latitude.
  • the gravity at the equator is 9.7803m / s 2 , at the north pole 9.8322 m / s 2 , and at the 45th parallel: 9, 80665 m / s 2 . If information about the latitude is already available (GPS measurement or manual input), this signal can be used immediately. In this case, for example, a linear interpolation can take place between the values already mentioned. Other interpolation methods or multiple interpolation methods may also be used.
  • the latitude can be estimated from the water temperature, since the water temperature is naturally higher in tropical waters than in European latitudes.
  • the salt content can also be used to include the usual difference between fresh water and salt water in the conclusions from the temperature to the latitude.
  • the geographical altitude which can be determined from the ambient pressure before the dive, is an influencing factor that can be included. The inclusion of influencing variables on However, the determination of the latitude is not limited thereto. Further information such as the season, stored climatic zones, etc. can also be taken into account.
  • a further preferred embodiment consists in the splitting of the measuring unit and the display unit. While the display unit is placed on the diver's arm or in a console or integrated as a head-up display in the diving mask, the measurement and / or recording unit can be placed elsewhere. For example, an attachment to the BC's BC, to the compressed air cylinder or elsewhere on the body of the diver lends itself. This has the advantage that the movements do not take place so quickly, as a result of which the angular accuracy is improved and also the acceleration values in the translatory direction are reduced.
  • a further application results from the provision of an underwater propulsion device (for example underwater scooters) with control devices which are controlled as a function of the position information obtained and the direction determined therefrom to a predefinable destination (reference point) or a predefinable path.
  • an underwater propulsion device for example underwater scooters
  • control devices which are controlled as a function of the position information obtained and the direction determined therefrom to a predefinable destination (reference point) or a predefinable path.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Navigation (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

L'invention porte sur un procédé de navigation sous-marine, en particulier pour des plongeurs en scaphandre autonome, ainsi que pour des véhicules sous-marins autonomes, pilotés ou télécommandés, dans lequel les signaux d'au moins un capteur comprenant au moins un capteur d'accélération, destiné à déterminer la position actuelle, sont évalués par intégration, on améliore la précision par utilisation de mesures de référence et on procède à une correction à l'aide d'un vecteur de correction, lequel est obtenu par transformation du vecteur des accélérations mesurées par le capteur d'accélération dans le système de coordonnées de l'ordinateur de plongée dans le système de coordonnées mondiales, comparaison avec au moins l'une des valeurs de mesure de référence, détermination de l'écart, et transformation en retour de l'écart dans le système de coordonnées de l'ordinateur de plongée.
EP09732157A 2008-04-17 2009-04-17 Procédé de navigation par inertie sous l'eau Withdrawn EP2269002A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102008019444A DE102008019444A1 (de) 2008-04-17 2008-04-17 Verfahren zur Trägheits-Navigation unter Wasser
PCT/EP2009/002843 WO2009127429A2 (fr) 2008-04-17 2009-04-17 Procédé de navigation par inertie sous l'eau

Publications (1)

Publication Number Publication Date
EP2269002A2 true EP2269002A2 (fr) 2011-01-05

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EP09732157A Withdrawn EP2269002A2 (fr) 2008-04-17 2009-04-17 Procédé de navigation par inertie sous l'eau

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US (1) US20120022820A1 (fr)
EP (1) EP2269002A2 (fr)
DE (1) DE102008019444A1 (fr)
WO (1) WO2009127429A2 (fr)

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Publication number Publication date
DE102008019444A1 (de) 2009-10-22
WO2009127429A2 (fr) 2009-10-22
US20120022820A1 (en) 2012-01-26
WO2009127429A3 (fr) 2009-12-23

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