US 11,054,528 B2
Device and method for positioning an underwater device
Jean-Marie Codol, Ales (FR)
Assigned to Submarine Open Technologies, Lattes (FR)
Appl. No. 16/308,465
Filed by Submarine Open Technologies, Lattes (FR)
PCT Filed Jun. 9, 2017, PCT No. PCT/FR2017/051458
§ 371(c)(1), (2) Date Dec. 9, 2018,
PCT Pub. No. WO2017/212182, PCT Pub. Date Dec. 14, 2017.
Claims priority of application No. 1655306 (FR), filed on Jun. 9, 2016.
Prior Publication US 2019/0271785 A1, Sep. 5, 2019
Int. Cl. G01S 19/45 (2010.01); B63C 11/26 (2006.01); B63C 11/48 (2006.01); G01S 5/00 (2006.01); G01S 5/30 (2006.01); B63C 11/02 (2006.01)
CPC G01S 19/45 (2013.01) [B63C 11/26 (2013.01); B63C 11/48 (2013.01); G01S 5/0009 (2013.01); G01S 5/0072 (2013.01); G01S 5/30 (2013.01); B63C 2011/021 (2013.01)] 16 Claims
OG exemplary drawing
 
16. Method of positioning an underwater device, comprising:
a step of attaching a transponder to a float configured to have neutral buoyancy at a specific depth,
a step of receiving, by at least two surface transponders, radio signals transmitted by at least two satellite sources of signals of a geolocation system,
a step of estimating at least one radio pseudo-distance between the surface transponder and at least two sources of signals from the geolocation system,
a step of communicating, by a transponder, information representative of the radio pseudo-distances to the underwater device,
a step of underwater acoustic transmission, by a transponder, synchronized to the time of the geolocation system configured to transmit an acoustic signal to the underwater device,
a step of receiving information, by a receiver of the underwater device, representative of the radio pseudo-distances transmitted by at least two surface transponders,
a step of receiving, by a receiver of the underwater device, acoustic signals representative of the radio pseudo-distances transmitted by at least two surface transponders,
a step of determining one or more acoustic pseudo-distances between at least two underwater acoustic transmitters of surface transponders and the underwater device, and
a step of calculating a position of the device in a terrestrial frame of reference centered on one of the surface transponders, the step of calculating the position comprising a computing unit executing a probabilistic estimation process performing this estimation by means of at least the following measurements:
a selection of information representative of the radio pseudo-distances received by the receiver,
a selection of acoustic pseudo-distances determined.