GB2554765A - Autonomous unmanned submersible vehicle docking - Google Patents

Autonomous unmanned submersible vehicle docking Download PDF

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Publication number
GB2554765A
GB2554765A GB1617203.3A GB201617203A GB2554765A GB 2554765 A GB2554765 A GB 2554765A GB 201617203 A GB201617203 A GB 201617203A GB 2554765 A GB2554765 A GB 2554765A
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GB
United Kingdom
Prior art keywords
auv
shell
reflectors
docking station
docking
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Withdrawn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
GB1617203.3A
Other versions
GB201617203D0 (en
Inventor
Peter Tiltman Carl
Gardiner Simon
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.)
Subsea Asset Location Technologies Ltd
Original Assignee
Subsea Asset Location Technologies Ltd
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 Subsea Asset Location Technologies Ltd filed Critical Subsea Asset Location Technologies Ltd
Priority to GB1617203.3A priority Critical patent/GB2554765A/en
Publication of GB201617203D0 publication Critical patent/GB201617203D0/en
Publication of GB2554765A publication Critical patent/GB2554765A/en
Withdrawn legal-status Critical Current

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Classifications

    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/52017—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 particularly adapted to short-range imaging
    • G01S7/52023—Details of receivers
    • G01S7/52036—Details of receivers using analysis of echo signal for target characterisation
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G—PHYSICS
    • G10—MUSICAL INSTRUMENTS; ACOUSTICS
    • G10K—SOUND-PRODUCING DEVICES; METHODS OR DEVICES FOR PROTECTING AGAINST, OR FOR DAMPING, NOISE OR OTHER ACOUSTIC WAVES IN GENERAL; ACOUSTICS NOT OTHERWISE PROVIDED FOR
    • G10K11/00—Methods or devices for transmitting, conducting or directing sound in general; Methods or devices for protecting against, or for damping, noise or other acoustic waves in general
    • G10K11/18—Methods or devices for transmitting, conducting or directing sound
    • G10K11/20—Reflecting arrangements
    • G10K11/205—Reflecting arrangements for underwater use
    • 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
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/008—Docking stations for unmanned underwater vessels, or the like

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Multimedia (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

A method of docking an AUV includes using passive underwater acoustic reflectors attached to a docking station, the reflectors being interrogated with a sonar fitted to the AUV. The reflectors are identified, their relative position to the AUV determined and the information used to guide the AUV to the docking station. The relative position of the reflectors to the AUV may be continuously updated to adjust the approach of the AUV to the docking station. The reflectors may be spherical with a shell surrounding a core. Some of the acoustic energy impingent on the shell may be reflected from the outer shell whilst some is passed through the shell and core to the opposite side of the shell where it is reflected back and combines with the signal reflected from the outer shell to give a characteristic double echo. The reflectors may have holes to allow the ingress of water.

Description

(71) Applicant(s):
Subsea Asset Location Technologies Limited (Incorporated in the United Kingdom)
Hamm Beach Road, Portland Marina, Dorset, DT5 1DX, United Kingdom (72) Inventor(s):
Carl Peter Tiltman Simon Gardiner (56) Documents Cited:
GB 2487649 A WO 2012/007743 A2
EP 2682782 A1 WO 2012/007742 A2 (58) Field of Search:
INT CL B63G, G01S, G10K
Other: WPI, EPODOC, Patent Fulltext.
(74) Agent and/or Address for Service:
Robert Beckham
Bushwood Drive, Dorridge, Solihull, B93 8JL, United Kingdom (54) Title ofthe Invention: Autonomous unmanned submersible vehicle docking
Abstract Title: A method of docking an autonomous underwater vehicle using passive underwater acoustic reflectors (57) A method of docking an AUV includes using passive underwater acoustic reflectors attached to a docking station, the reflectors being interrogated with a sonar fitted to the AUV. The reflectors are identified, their relative position to the AUV determined and the information used to guide the AUV to the docking station. The relative position of the reflectors to the AUV may be continuously updated to adjust the approach of the AUV to the docking station. The reflectors may be spherical with a shell surrounding a core. Some ofthe acoustic energy impingent on the shell may be reflected from the outer shell whilst some is passed through the shell and core to the opposite side of the shell where it is reflected back and combines with the signal reflected from the outer shell to give a characteristic double echo. The reflectors may have holes to allow the ingress of water.
Description
UNDERWATER DOCKING [0001] This invention relates to systems to dock Autonomous Underwater Vehicle (AU Vs).
[0002] There are a number of systems in use for docking AUVs each of the known systems bring its own issues and restrictions.
[0003] In one system AUV’s are fitted with on-board navigation sensors such as Inertial Navigation System (INS), Doppler Velocity Log (DVL) and Global Positioning System (GPS). In general these systems are not sufficiently accurate or flexible enough to support all docking applications. For example the PHINS6000 INS by IXBLUE corrected by DVL has a stated positional accuracy of 0.1 % of distance travelled therefore after only travelling 500m its position could be inaccurate by 0.5m, which is probably too inaccurate to achieve successful docking. Furthermore to use on-board navigation the exact location of the docking station must be known, hence repositioning or inaccurate positioning cannot be handled.
[0004] In a second system, an acoustic transponder provides a relative range and bearing to the docking station using an interrogator fitted to the AUV. The accuracy of the transponder is sufficient for docking and a transponder can provide guidance over 100’s metres. They can also be fitted with attitude sensors allowing the pose of the docking station to be telemetered to the AUV. Unfortunately acoustic transponders are typically battery powered devices which limits their operational life, both in longevity and availability. Maintenance is required to replenish the battery power. As powered device reliability must also be an issue, though they are widely used within the subsea oil and gas industries which implies reliability is reasonable.
[0005] In third system known as “Long-Base Line” (LBL for short) a field of transponders, with known positions, is deployed within which the AUV moves. To navigate the AUV uses its relative position within the field to determine its absolute position. The accuracy of an LBL system is sufficient to support AUV docking. However, the system relies on the installation and operation of the field and therefore is restricted to operations within the field and on the operation of battery powered transponders. Furthermore, to achieve docking the pose ofthe docking station must be accurately known and as with on-board navigation system, a movement or incorrect positioning ofthe docking station could not be handled.
[0006] In a fourth system many AUVs are recovered on the sea surface by attaching a rope to the vehicle before lifting on-board the vessel. In calm seas this approach is reasonable, though obviously does not support the longer-term desires ofthe oil and gas industry to employ AUVs to live on the seabed. In heavier sea conditions risks are high with possible AUV and support vessel damage, as well as health and safety concerns. In situations when the AUV is depleted of power recovery has to be undertaken regardless of weather conditions.
[0007] In a fifth system vision systems provide high resolution images allowing docking station position to be accurately estimated. They are inexpensive only requiring a good quality camera and operate by exploiting visual markers attached to the docking station, such as lights or shapes. They have been successful in providing docking system for AUVs however visibility is their main limiting factor. Poor visibility can be less than a few metres which is insufficient for long AUVs to manoeuvre within.
[0008] WO 2012/007742 A (SUBSEA ASSET LOCATION TECHNOLOGY
LIMITED) 19.01.2012 describes a passive underwater acoustic reflector. It comprises a shell surrounding a core. Ideally it is spherical and comprises a shell surrounding a core, said shell permitting acoustic waves at one or more frequencies to pass, in part at least, through the shell into the core to be reflected back from the portion of the shell opposite the entry of the acoustic wave and in part to pass around within the shell to combine with the reflected wave and be reradiated form the reflector. In WO2012007742 the acoustic reflector comprises a shell surrounding a core characterised in that the shell has one or more holes therein permitting water freely to enter and leave the inside of the shell.
[0009] According to the present invention a method of docking an AUV comprises utilising a plurality of passive underwater acoustic reflectors attached to a docking station, interrogating the acoustic reflectors with a sonar fitted to the AUV to be docked, recognising the acoustic reflectors as acoustic reflectors attached to the docking station and identify their relative position to the AUV, and using the information to guide the AUV to the docking station. As the AUV manoeuvres towards its docking station the information will be continuous updated to adjust as necessary the approach of the AUV to the docking station.
[0010] The invention addresses the limitations of existing AUV docking systems and is generic, suitable for many AUVs, it provides accurate guidance during the final approach of an AUV to its docking station, it has minimal impact on the design of the docking station, and there is no requirement for additional mounted or off-AUV equipment supporting operation in all locations and minimising cost. The method provides continuous, limitless access. Experience has shown that acoustic reflectors of the kind described in WO2012/007742 have at least 20 year expected lifespan, and thus maintenance requirements are minimal. The method is operable in poor sea conditions.
[0011] In WO 2012/101423 A (SUBSEA ASSET LOCATION TECHNOLOGY LIMITED ) 02.08.2012 methods of identifying passive acoustic reflectors are described. Those methods would be deployed within the methods of the present invention to enable acoustic reflectors attached to a docking station positively to be identified and distinguished from other reflection of the sonar which may emanate from other objects in the neighbourhood.
[0012] In the method described in the previous paragraph, normally several of the characteristics will be analysed including a least one of which is specific to acoustic reflectors deploying on the docking station. With the specific identification of the reflectors attached to the docking station, the analysis system can be programmed to concentrate of these ignoring all other reflections that may be present. This analysis can be enhanced by preloading the analysis system with information about the special relationship of the acoustic reflectors attached to the docking station, so that information too may be used to enhance the accuracy of identification and thus of the control of the AUV.

Claims (5)

Claims
1. A method of docking an AUV comprises utilising a plurality of passive underwater acoustic reflectors attached to a docking station, interrogating the acoustic reflectors with a sonar fitted to the AUV to be docked, recognising the acoustic reflectors as acoustic reflectors attached to the docking station and identify their relative position to the AUV.
2. A method according to claim 1 comprising continuous updating of relative positions of the acoustic reflectors to the AUV and using the updating to adjust as necessary the approach of the AUV to the docking station.
3. A method according to claim 1 or 2 in which the passive acoustic reflectors are spherical and each comprise a shell surrounding a core, said shell permitting acoustic waves at one or more frequencies to pass, in part at least, through the shell into the core to be reflected back from the portion of the shell opposite the entry of the acoustic wave and in part to pass around within the shell to combine with the reflected wave and be reradiated form the reflector.
4. A method according to claim 3 in which the shell has one or more holes therein permitting water freely to enter and leave the inside of the shell.
5. A method of docking an AUV substantially as hereinbefore described.
Intellectual
Property
Office
Application No: Claims searched:
GB1617203.3A 2016-10-10 2016-10-10 Autonomous unmanned submersible vehicle docking Withdrawn GB2554765A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
GB1617203.3A GB2554765A (en) 2016-10-10 2016-10-10 Autonomous unmanned submersible vehicle docking

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Application Number Priority Date Filing Date Title
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GB2554765A true GB2554765A (en) 2018-04-11

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109856638B (en) * 2019-02-28 2021-09-17 中国计量大学 Method for automatically searching and positioning specific underwater target

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012007742A2 (en) * 2010-07-16 2012-01-19 Subsea Asset Location Technologies Limited Acoustic reflectors
WO2012007743A2 (en) * 2010-07-16 2012-01-19 Subsea Asset Location Technologies Limited Underwater marker
GB2487649A (en) * 2011-01-25 2012-08-01 Subsea Asset Location Tech Ltd Identifying and locating the absolute position of an underwater acoustic reflector
EP2682782A1 (en) * 2012-07-05 2014-01-08 Roke Manor Research Limited Sensor location method and system

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012007742A2 (en) * 2010-07-16 2012-01-19 Subsea Asset Location Technologies Limited Acoustic reflectors
WO2012007743A2 (en) * 2010-07-16 2012-01-19 Subsea Asset Location Technologies Limited Underwater marker
GB2487649A (en) * 2011-01-25 2012-08-01 Subsea Asset Location Tech Ltd Identifying and locating the absolute position of an underwater acoustic reflector
EP2682782A1 (en) * 2012-07-05 2014-01-08 Roke Manor Research Limited Sensor location method and system

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