FR3127803B1 - Assembly for the recovery of a plurality of underwater autonomous vehicles and associated method - Google Patents

Assembly for the recovery of a plurality of underwater autonomous vehicles and associated method Download PDF

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Publication number
FR3127803B1
FR3127803B1 FR2110412A FR2110412A FR3127803B1 FR 3127803 B1 FR3127803 B1 FR 3127803B1 FR 2110412 A FR2110412 A FR 2110412A FR 2110412 A FR2110412 A FR 2110412A FR 3127803 B1 FR3127803 B1 FR 3127803B1
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France
Prior art keywords
recovery
auv
assembly
autonomous vehicles
approach
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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
FR2110412A
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French (fr)
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FR3127803A1 (en
Inventor
Thierry Brizard
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.)
ARKEOCEAN
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ARKEOCEAN
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Publication date
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Priority to FR2110412A priority Critical patent/FR3127803B1/en
Publication of FR3127803A1 publication Critical patent/FR3127803A1/en
Application granted granted Critical
Publication of FR3127803B1 publication Critical patent/FR3127803B1/en
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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
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • 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
    • G01C21/20—Instruments for performing navigational calculations
    • 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
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/80—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using ultrasonic, sonic or infrasonic waves
    • G01S3/802—Systems for determining direction or deviation from predetermined direction
    • 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
    • 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
    • G01S2205/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S2205/01—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations specially adapted for specific applications

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

Ensemble pour la récupération d’une pluralité de véhicules autonomes sous-marins et procédé associé L’invention concerne un ensemble (1) pour la récupération de véhicules autonomes sous-marins, AUV, (10) comprenant un système de récupération (11) muni d’un panier (110) et d’un module d’émission (111) de signaux acoustiques, et une pluralité d’AUV (10). Chaque AUV (10) comprend un système de navigation (100) contrôlant sa propulsion, et une antenne (101) acoustique. L’antenne acoustique (101) est configurée pour mesurer un angle de gisement entre un signal acoustique reçu et une direction longitudinale, et un angle de site entre un signal acoustique reçu et un plan horizontal. Chaque AUV, lors d’une phase d’approche, est configuré pour se rapprocher du système de récupération (11) préférablement sur un plan horizontal, et lorsque l’angle de site atteint une valeur seuil, passer de la phase d’approche à une phase de ralliement dans laquelle l’AUV (10) modifie sa trajectoire pour se rapprocher de l’ouverture (1101) du panier (110). Figure pour l’abrégé : Fig. 1Assembly for the recovery of a plurality of underwater autonomous vehicles and associated method The invention relates to an assembly (1) for the recovery of underwater autonomous vehicles, AUV, (10) comprising a recovery system (11) provided a basket (110) and an acoustic signal transmission module (111), and a plurality of AUVs (10). Each AUV (10) includes a navigation system (100) controlling its propulsion, and an acoustic antenna (101). The acoustic antenna (101) is configured to measure a bearing angle between a received acoustic signal and a longitudinal direction, and an elevation angle between a received acoustic signal and a horizontal plane. Each AUV, during an approach phase, is configured to approach the recovery system (11) preferably on a horizontal plane, and when the angle of elevation reaches a threshold value, move from the approach phase to a homing phase in which the AUV (10) modifies its trajectory to approach the opening (1101) of the basket (110). Figure for abstract: Fig. 1

FR2110412A 2021-10-01 2021-10-01 Assembly for the recovery of a plurality of underwater autonomous vehicles and associated method Active FR3127803B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR2110412A FR3127803B1 (en) 2021-10-01 2021-10-01 Assembly for the recovery of a plurality of underwater autonomous vehicles and associated method

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2110412A FR3127803B1 (en) 2021-10-01 2021-10-01 Assembly for the recovery of a plurality of underwater autonomous vehicles and associated method
FR2110412 2021-10-01

Publications (2)

Publication Number Publication Date
FR3127803A1 FR3127803A1 (en) 2023-04-07
FR3127803B1 true FR3127803B1 (en) 2023-10-27

Family

ID=78770777

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2110412A Active FR3127803B1 (en) 2021-10-01 2021-10-01 Assembly for the recovery of a plurality of underwater autonomous vehicles and associated method

Country Status (1)

Country Link
FR (1) FR3127803B1 (en)

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9321514B2 (en) 2013-04-25 2016-04-26 Cgg Services Sa Methods and underwater bases for using autonomous underwater vehicle for marine seismic surveys
US9873496B2 (en) * 2014-10-29 2018-01-23 Seabed Geosolutions B.V. Deployment and retrieval of seismic autonomous underwater vehicles

Also Published As

Publication number Publication date
FR3127803A1 (en) 2023-04-07

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