US 11,747,810 B2
Indoor positioning and navigation systems and methods
Phillip D. Bondurant, Kent, WA (US); and Giovanni Nino, Kent, WA (US)
Assigned to Quest Integrated, LLC, Kent, WA (US)
Filed by Quest Integrated, LLC, Kent, WA (US)
Filed on May 3, 2021, as Appl. No. 17/246,973.
Application 17/246,973 is a continuation of application No. 16/964,565, granted, now 10,996,674, previously published as PCT/US2020/023541, filed on Mar. 19, 2020.
Claims priority of provisional application 62/823,780, filed on Mar. 26, 2019.
Claims priority of provisional application 62/820,454, filed on Mar. 19, 2019.
Prior Publication US 2021/0271244 A1, Sep. 2, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/02 (2020.01); G05D 1/00 (2006.01); G05D 1/04 (2006.01); G01B 5/18 (2006.01); G01B 17/02 (2006.01)
CPC G05D 1/0094 (2013.01) [G01B 5/18 (2013.01); G01B 17/02 (2013.01); G05D 1/024 (2013.01); G05D 1/027 (2013.01); G05D 1/0255 (2013.01); G05D 1/048 (2013.01); G05D 2201/0207 (2013.01)] 30 Claims
OG exemplary drawing
 
1. A system for inspecting or maintaining a storage tank, comprising:
a vehicle comprising:
at least one sensor for determining properties of a storage tank;
a navigation system comprising:
an acoustic transmitter (TX) carried by the vehicle, and
an inertial measurement unit (IMU) sensor and an encoder configured to at least partially determine a location of the vehicle with respect to the storage tank, and
a propulsion unit configured to move the vehicle within the storage tank; and
an acoustic receiver (RX) fixed with respect to the storage tank,
wherein the vehicle moves inside the storage tank in concentric arcs with respect to the acoustic receiver (RX) being a center point of the concentric arcs.