JP2009229452A - 水中ナビゲーションの方法およびシステム - Google Patents
水中ナビゲーションの方法およびシステム Download PDFInfo
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- JP2009229452A JP2009229452A JP2009008869A JP2009008869A JP2009229452A JP 2009229452 A JP2009229452 A JP 2009229452A JP 2009008869 A JP2009008869 A JP 2009008869A JP 2009008869 A JP2009008869 A JP 2009008869A JP 2009229452 A JP2009229452 A JP 2009229452A
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- 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
- G01S7/52004—Means for monitoring or calibrating
-
- 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
- G01S15/50—Systems of measurement, based on relative movement of the target
- G01S15/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S15/60—Velocity or trajectory determination systems; Sense-of-movement determination systems wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track
-
- 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
- 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
- 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
- G01S15/50—Systems of measurement, based on relative movement of the target
- G01S15/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
-
- 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
- G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Acoustics & Sound (AREA)
- Electromagnetism (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Navigation (AREA)
Abstract
【解決手段】この方法は、ナビゲーションシステムを使用して、第1の速度測定値を、第2の速度測定値を有する1または複数の信号ビームに沿って投影し、第2の速度測定値は1または複数の信号ビームの少なくともひとつに関係する。この方法では、少なくとも第2の速度測定値の予測に基づいて、ナビゲーションシステムに関連する物体の位置および場所を決定し、このナビゲーションシステムは、第1および第2の速度測定値の共分散に基づき規定の測定範囲内で機能するように調整される。物体の位置および場所を決定する際に行われる性能調整は、1または複数の外部環境条件の故に各信号ビームを維持するナビゲーションシステムとは独立に動作可能である。
【選択図】図1
Description
米国政府は、米国海軍および防衛高等研究企画庁(DARPA)によって与えられた契約番号N66001−07−C−2004のもと、本発明の一定の権利を有し得る。
様々な図面における同じ参照番号および符号は、同じ要素を示す。
Φは、状態遷移行列であり、
Qは、プロセスノイズの密度行列であり、
Gは、プロセスノイズの動的結合行列である。
Hは、測定感度行列であり、
Rは、測定誤差の共分散行列である。
一実装形態では、カルマンフィルタ202は、測定残差Δyを、本明細書で測定値の共分散と呼ぶ残差の期待値と比較する。例えば、単一のビーム測定値が測定値の共分散と比較されるとき、不正確な測定値を検出および拒絶する機能が、以下に等式(Equation)5および等式(Equation)6で示されるように形成される。
vbは、測定されたビーム速度のベクトルであり、
vnは、ナビゲーションフレームの速度であり、
uxは、ビームX軸に沿った単位ベクトルであり、
・は、ドット積演算子である。
101 メインセンサ・ユニット
102 慣性計測装置(IMU)
104 ドップラソナー
106 磁力計
108 GPS(全世界測位システム)受信機
110 圧力センサ
111 センサ基準ユニット
112 ユーザ入力端末
114 処理ユニット
116 出力端末
202 カルマンフィルタ
204 測定処理モジュール
206 誤差状態更新モジュール
208 センサ補償モジュール
210 ストラップダウン・ナビゲーション処理モジュール
Claims (3)
- ナビゲーションシステム(100)からの第2の速度測定値を有する1または複数の信号ビームに沿って第1の速度測定値を投影するステップ(302)と、前記第2の速度測定値は前記1または複数の信号ビームの少なくともひとつに関係し、
少なくとも前記第2の速度測定値の予測に基づいて、前記ナビゲーションシステムに関連する物体の位置および場所を決定するステップ(304)と、前記ナビゲーションシステムは、前記第1および第2の速度測定値の共分散に基づき規定の測定範囲内で機能するように調整され、
前記物体の前記位置および場所を決定する際に行われる前記性能調整は、1または複数の外部環境条件により前記各信号ビームを維持する前記ナビゲーションシステムと独立に動作可能である、
水中ナビゲーションの方法(300)。 - 前記第1の速度測定値を投影するステップは、前記第1および第2の速度測定値を慣性(102)速度成分とソナー(104)速度成分とに分離するステップを含む、請求項1に記載の方法。
- 前記位置および場所を決定するステップは、
前記第1の速度測定値のソース成分の二次積分を使用して、前記物体の前記位置および場所を予測するステップ(306)と、
前記第1および第2の速度測定値の共分散に関し、少なくとも1の前記信号ビームの測定感度に基づいて、実質的に一定なナビゲーションデータを前記ナビゲーションシステムの出力端末(116)に提供するステップと
をさらに含む、請求項1に記載の方法。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US12/051,740 | 2008-03-19 | ||
US12/051,740 US7778111B2 (en) | 2008-03-19 | 2008-03-19 | Methods and systems for underwater navigation |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2009229452A true JP2009229452A (ja) | 2009-10-08 |
JP5662642B2 JP5662642B2 (ja) | 2015-02-04 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2009008869A Expired - Fee Related JP5662642B2 (ja) | 2008-03-19 | 2009-01-19 | 水中ナビゲーションの方法およびシステム |
Country Status (4)
Country | Link |
---|---|
US (1) | US7778111B2 (ja) |
JP (1) | JP5662642B2 (ja) |
AU (1) | AU2009200190B2 (ja) |
GB (1) | GB2458357B (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2011220739A (ja) * | 2010-04-06 | 2011-11-04 | Ihi Corp | 水中用案内装置 |
JP2016520810A (ja) * | 2013-03-15 | 2016-07-14 | ハダル, インコーポレイテッド | 自律型無人潜水機をナビゲートするためのシステムおよび方法 |
Families Citing this family (18)
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US7778111B2 (en) * | 2008-03-19 | 2010-08-17 | Honeywell International Inc. | Methods and systems for underwater navigation |
TW201035581A (en) * | 2009-03-27 | 2010-10-01 | Ind Tech Res Inst | Space detecting apparatus, vehicle and control method thereof |
US8380375B2 (en) | 2009-08-14 | 2013-02-19 | IPOZ Systems, LLC | Device, computer storage medium, and computer implemented method for metrology with inertial navigation system and aiding |
US9255803B2 (en) | 2009-08-14 | 2016-02-09 | IPOZ Systems, LLC | Devices, program products and computer implemented methods for touchless metrology having virtual zero-velocity and position update |
EP2513601A4 (en) | 2009-12-16 | 2016-04-27 | Shb Instr Inc | SYSTEMS AND METHOD FOR ACOUSTIC UNDERWATER NAVIGATION |
CN104870940A (zh) * | 2012-10-29 | 2015-08-26 | 德立文亚迪仪器公司 | 用于水柱辅助导航的系统和方法 |
WO2017023651A1 (en) * | 2015-07-31 | 2017-02-09 | Teledyne Instruments, Inc. | Small aperture acoustic velocity sensor |
CN105241442B (zh) * | 2015-09-01 | 2017-12-19 | 北京理工大学 | 基于“虚拟短基线”定位系统的惯导/水声组合导航方法 |
EP3236209B1 (en) * | 2016-04-19 | 2021-06-09 | Honda Research Institute Europe GmbH | Navigation system and method for error correction |
CN107765252A (zh) * | 2017-10-23 | 2018-03-06 | 燕山大学 | 一种基于广播轮询的非时间同步水下定位系统及方法 |
US11525688B2 (en) * | 2017-12-15 | 2022-12-13 | Samsung Electronics Co., Ltd. | Method and apparatus for determining object position |
US11353566B2 (en) | 2018-04-26 | 2022-06-07 | Navico Holding As | Sonar transducer having a gyroscope |
US11221403B2 (en) * | 2018-05-21 | 2022-01-11 | Navico Holding As | Impact detection devices and methods |
CN109489668A (zh) * | 2018-11-16 | 2019-03-19 | 上海瀚界科技发展有限公司 | 单兵水下导航方法及装置 |
US11859979B2 (en) | 2020-02-20 | 2024-01-02 | Honeywell International Inc. | Delta position and delta attitude aiding of inertial navigation system |
CN112097763B (zh) * | 2020-08-28 | 2022-07-05 | 西北工业大学 | 一种基于mems imu/磁力计/dvl组合的水下运载体组合导航方法 |
CN115031724A (zh) * | 2022-03-21 | 2022-09-09 | 哈尔滨工程大学 | Sins/dvl紧组合系统dvl波束故障处理方法 |
CN115979260B (zh) * | 2023-02-24 | 2023-06-02 | 北京大学 | 仿生导航系统、方法、设备及计算机存储介质 |
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2008
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-
2009
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- 2009-01-19 JP JP2009008869A patent/JP5662642B2/ja not_active Expired - Fee Related
- 2009-01-19 AU AU2009200190A patent/AU2009200190B2/en not_active Ceased
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JP2011220739A (ja) * | 2010-04-06 | 2011-11-04 | Ihi Corp | 水中用案内装置 |
JP2016520810A (ja) * | 2013-03-15 | 2016-07-14 | ハダル, インコーポレイテッド | 自律型無人潜水機をナビゲートするためのシステムおよび方法 |
Also Published As
Publication number | Publication date |
---|---|
AU2009200190A1 (en) | 2009-10-08 |
AU2009200190B2 (en) | 2013-08-22 |
US20090238042A1 (en) | 2009-09-24 |
JP5662642B2 (ja) | 2015-02-04 |
GB0900741D0 (en) | 2009-03-04 |
GB2458357B (en) | 2010-07-14 |
US7778111B2 (en) | 2010-08-17 |
GB2458357A (en) | 2009-09-23 |
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