US 12,306,630 B2
Indoor positioning and navigation systems and methods
Phillip D. Bondurant, Kent, WA (US); and Giovanni Nino, Kent, WA (US)
Assigned to Quest Integrity USA, LLC, Stafford, TX (US)
Filed by QUEST INTEGRITY USA, LLC, Stafford, TX (US)
Filed on Jul. 10, 2023, as Appl. No. 18/349,889.
Application 18/349,889 is a continuation of application No. 17/246,973, filed on May 3, 2021, granted, now 11,747,810.
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 2023/0359206 A1, Nov. 9, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/00 (2024.01); 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 1/0255 (2013.01); G05D 1/027 (2013.01); G05D 1/048 (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 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.