Processing

Please wait...

Settings

Settings

Goto Application

1. EP3384362 - NAVIGATION SYSTEM FOR AN AUTONOMOUS VEHICLE BASED ON CROSS CORRELATING COHERENT IMAGES

Office
European Patent Office
Application Number 16791161
Application Date 17.10.2016
Publication Number 3384362
Publication Date 10.10.2018
Publication Kind B1
IPC
G05D 1/10
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
10Simultaneous control of position or course in three dimensions
G01C 21/20
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/-G01C19/104
20Instruments for performing navigational calculations
G05D 1/06
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
04Control of altitude or depth
06Rate of change of altitude or depth
CPC
G01C 21/20
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
20Instruments for performing navigational calculations
G05D 1/0692
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
04Control of altitude or depth
06Rate of change of altitude or depth
0692specially adapted for under-water vehicles
B63G 8/001
BPERFORMING OPERATIONS; TRANSPORTING
63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
GOFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
8Underwater vessels, e.g. submarines; ; Equipment specially adapted therefor
001Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
B63G 8/14
BPERFORMING OPERATIONS; TRANSPORTING
63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
GOFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
8Underwater vessels, e.g. submarines; ; Equipment specially adapted therefor
14Control of attitude or depth
B63G 2008/004
BPERFORMING OPERATIONS; TRANSPORTING
63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
GOFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
8Underwater vessels, e.g. submarines; ; Equipment specially adapted therefor
001Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
002unmanned
004autonomously operating
G01S 15/89
GPHYSICS
01MEASURING; TESTING
SRADIO 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
15Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
88Sonar systems specially adapted for specific applications
89for mapping or imaging
Applicants RAYTHEON CO
Inventors WILBY ANDREW
BORCHARDT STEVEN
Designated States
Priority Data 201562261197 30.11.2015 US
Title
(DE) NAVIGATIONSSYSTEM FÜR AUTONOMES FAHRZEUG AUF DER GRUNDLAGE EINER KREUZKORRELATION VON KOHÄRENTER BILDER
(EN) NAVIGATION SYSTEM FOR AN AUTONOMOUS VEHICLE BASED ON CROSS CORRELATING COHERENT IMAGES
(FR) SYSTÈME DE NAVIGATION POUR VÉHICULE AUTONOME BASÉ SUR L'INTERCORRELATION D'IMAGES COHÉRENTES
Abstract
(EN) A method and system for facilitating navigation of an autonomous underwater vehicle (AUV) about an egress path that mirrors an ingress path. Complex return data during an ingress cycle are obtained and a corresponding complex image of the seabed along the ingress cycle is generated. Complex return data during an egress cycle are also obtained and a plurality of corresponding complex local images of the seabed along the egress cycle can be generated. The complex local images are compared to the complex ingress image to identify a normalized cross-correlation coefficient (NCCC). A maximum NCCC indicates that a position of the AUV in the along-track direction has been found. Successive local complex images from the egress cycle can be compared against the complex image from the ingress cycle as the AUV moves along the egress path to identify successive NCCCs, and monitored overtime to determine if the successive NCCCs are increasing or decreasing as the AUV moves along the egress path. The path of the AUV can be corrected to mirror the egress path to the ingress path based on the change of the NCCCs as compared to maximum NCCC.
(FR) L'invention concerne un procédé et un système pour faciliter la navigation d'un véhicule sous-marin autonome (AUV) autour d'un chemin de sortie qui reflète un chemin d'entrée. Des données de retour complexes pendant un cycle d'entrée sont obtenues et une image complexe correspondante du fond marin le long du cycle d'entrée est générée. Des données de retour complexes pendant un cycle de sortie sont également obtenues et une pluralité d'images locales complexes correspondantes du fond marin le long du cycle de sortie peuvent être générées. Les images locales complexes sont comparées à l'image d'entrée complexe afin d'identifier un coefficient de corrélation croisée normalisé (NCCC). Un NCCC maximum indique qu'une position de l'AUV dans la direction le long de la trajectoire a été trouvée. Des images complexes locales successives provenant du cycle de sortie peuvent être comparées à l'image complexe provenant du cycle d'entrée à mesure que l'AUV se déplace le long de la trajectoire de sortie pour identifier les NCCC successifs, et surveillées dans le temps pour déterminer si les NCCC successifs augmentent ou diminuent à mesure que l'AUV se déplace le long de la trajectoire de sortie. La trajectoire de l'AUV peut être corrigée pour refléter la trajectoire de sortie sur la trajectoire d'entrée en se basant sur le changement des NCCC par rapport au NCCC maximum.
Related patent documents