ES2422184T3 - Método y aparato para determinar la posición de un objeto bajo el agua en tiempo real - Google Patents

Método y aparato para determinar la posición de un objeto bajo el agua en tiempo real

Info

Publication number
ES2422184T3
ES2422184T3 ES04786654T ES04786654T ES2422184T3 ES 2422184 T3 ES2422184 T3 ES 2422184T3 ES 04786654 T ES04786654 T ES 04786654T ES 04786654 T ES04786654 T ES 04786654T ES 2422184 T3 ES2422184 T3 ES 2422184T3
Authority
ES
Spain
Prior art keywords
signal
frequency
determining
taking
real time
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.)
Active
Application number
ES04786654T
Other languages
English (en)
Inventor
Michel Blain
Regis Houde
Richard Laliberte
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.)
Hydro Quebec
Original Assignee
Hydro Quebec
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 Hydro Quebec filed Critical Hydro Quebec
Application granted granted Critical
Publication of ES2422184T3 publication Critical patent/ES2422184T3/es
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • G01C21/1652—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 ranging devices, e.g. LIDAR or RADAR
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions

Landscapes

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

Abstract

Un método para determinar una posición subacuática en tiempo real de un objeto, comprendiendo dicho métodolas etapas de: tomar una muestra de una primera señal (X, Y, Z) correspondiente a dicha posición de dicho objeto a unaprimera frecuencia dada, con un error de posición medio igual a cero; tomar una muestra de una segunda señal correspondiente a, al menos una de, velocidad (Vx, Vy, Vz) y unaaceleración (Ax, Ay, Az) de dicho objeto a una segunda frecuencia más alta que dicha primera frecuencia,dando lugar a un cálculo de posición con un error medio que no es igual a cero; combinar dicha primera señal con dicha segunda señal para proporcionar dicha posición a dicha segundafrecuencia dada tendiendo en cuenta el suministro de datos asíncronos y compensación de los retrasos en lasmedidas.
ES04786654T 2003-09-23 2004-09-23 Método y aparato para determinar la posición de un objeto bajo el agua en tiempo real Active ES2422184T3 (es)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US50496703P 2003-09-23 2003-09-23
PCT/CA2004/001734 WO2005029001A1 (en) 2003-09-23 2004-09-23 Method and apparatus for determining the position of an underwater object in real-time

Publications (1)

Publication Number Publication Date
ES2422184T3 true ES2422184T3 (es) 2013-09-09

Family

ID=34375545

Family Applications (1)

Application Number Title Priority Date Filing Date
ES04786654T Active ES2422184T3 (es) 2003-09-23 2004-09-23 Método y aparato para determinar la posición de un objeto bajo el agua en tiempo real

Country Status (5)

Country Link
EP (1) EP1664678B1 (es)
JP (1) JP4818921B2 (es)
CA (1) CA2539591C (es)
ES (1) ES2422184T3 (es)
WO (1) WO2005029001A1 (es)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7778111B2 (en) * 2008-03-19 2010-08-17 Honeywell International Inc. Methods and systems for underwater navigation
JP6057905B2 (ja) * 2010-10-25 2017-01-11 ロッキード マーティン コーポレイションＬｏｃｋｈｅｅｄ Ｍａｒｔｉｎ Ｃｏｒｐｏｒａｔｉｏｎ 水中構造物の構造的変化の検出
EP2677277B1 (en) * 2012-06-22 2015-06-10 GE Energy Power Conversion Technology Limited Data fusion architecture
CN110095756B (zh) * 2019-05-21 2023-01-03 中国科学院深海科学与工程研究所 一种基于水声定位系统的水下目标速度计算方法
JP7196789B2 (ja) * 2019-07-02 2022-12-27 株式会社デンソー 車載センサ装置

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61247916A (ja) * 1985-04-26 1986-11-05 Shipbuild Res Assoc Japan 船舶複合航法システム
JPH03269387A (ja) * 1990-03-20 1991-11-29 Toshiba Corp 水中位置検出装置
US6738697B2 (en) * 1995-06-07 2004-05-18 Automotive Technologies International Inc. Telematics system for vehicle diagnostics
JPH06317428A (ja) * 1993-05-06 1994-11-15 Tech Res & Dev Inst Of Japan Def Agency 慣性航法方法
JPH0826178A (ja) * 1994-07-13 1996-01-30 Mitsui Eng & Shipbuild Co Ltd 浮体構造物の海上接合方法
JPH08136291A (ja) * 1994-11-08 1996-05-31 Mitsubishi Heavy Ind Ltd 磁気誘導型水中ロボット
JPH08138200A (ja) * 1994-11-11 1996-05-31 Kawasaki Heavy Ind Ltd 潜水船等を用いた水中探査装置及び潜水船等の水中航法
JPH08320309A (ja) * 1995-05-25 1996-12-03 Mitsui Eng & Shipbuild Co Ltd 水中検査方法および装置
US5928309A (en) * 1996-02-05 1999-07-27 Korver; Kelvin Navigation/guidance system for a land-based vehicle
DK1275012T3 (da) * 2000-03-03 2010-12-06 Atlas Elektronik Gmbh Fremgangsmåder og systemer til at navigere under vand

Also Published As

Publication number Publication date
CA2539591A1 (en) 2005-03-31
EP1664678A1 (en) 2006-06-07
WO2005029001A1 (en) 2005-03-31
EP1664678A4 (en) 2010-01-13
JP4818921B2 (ja) 2011-11-16
JP2008513730A (ja) 2008-05-01
EP1664678B1 (en) 2013-04-24
CA2539591C (en) 2014-04-22

Similar Documents

Publication Publication Date Title
Nakatani et al. Discourse structure in spoken language: Studies on speech corpora
BRPI0505982A (pt) processo e aparelho de medição para a localização de objetos encerrados em um meio
BR0210003A (pt) Supressão de múltiplos de fundo de águas fechadas e de múltiplos de réplicas para dados sìsmicos do fundo do oceano
BR0011773A (pt) Método para corrigir dados sìsmicos quanto à distorção causada pelo movimento de uma fonte sìsmica e o movimento de um receptor sìsmico, e, sistema de medição sìsmica
DE50114736D1 (de) Messsystem zur Ermittlung von Luftdaten eines Luftfahrzeugs sowie ein Verfahren zur Bestimmung der Luftdaten
CN106959471A (zh) 基于非线性航磁总场梯度补偿模型的航磁补偿方法
Bos et al. Detection of individual normal modes of oscillation of the Sun in the period range from 2 hr to 10 min in solar diameter studies
CN106527099B (zh) 一种时间数字转换器及其时间测量电路与方法
CN105548006A (zh) 一种检测超声空化强度的系统
CN110084137A (zh) 基于驾驶场景的数据处理方法、装置和计算机设备
ES2422184T3 (es) Método y aparato para determinar la posición de un objeto bajo el agua en tiempo real
US20030187651A1 (en) Voice synthesis system combining recorded voice with synthesized voice
JP2016045193A (ja) 高度検出装置、負荷・駆動装置および高度検出方法
Chi et al. Tamao travel time of sudden impulses and its relationship to ionospheric convection vortices
Lv et al. Allan variance method for gyro noise analysis using weighted least square algorithm
DK0403997T3 (da) Fremgangsmåde og indretning til kvantiseret evaluering af informationsmængdegennemløbet af virtuelle kredse, der benytter en transmissionskanal med asynkron tidsmultipleks
KR101095267B1 (ko) 그래픽 모델에서 벽 두께를 결정하는 시스템, 방법 및 컴퓨터 프로그램을 실체적으로 구현한 컴퓨터 판독가능 기록 매체
RU2655614C1 (ru) Способ измерения радиусов изгиба трубопровода на основе данных диагностического комплекса для определения положения трубопровода
RU2337382C1 (ru) Способ краткосрочного предсказания землетрясений
KIKUCHI et al. An integrated voice analyzer for acoustic evaluation of pathological voice
RU2353957C1 (ru) Способ оперативного прогноза землетрясений
Jolliffe et al. The influence of a single observation on some standard test statistics
CN117269685A (zh) 基于数字孪生的变压器局部放电定位方法
Clark et al. Sierra Nevada river incision from apatite 4He/3He thermochronometry
Shtyrkov The Evolved-Vacuum Model of Redshifts