Device, program product and computer implemented method for touchless metrology using an inertial navigation system and laser

摘要

A metrology device, computer program product and computer-implemented method generating survey data without having the device touch subsea objects being surveyed. The metrology device may be used with an underwater vehicle or diving personnel, and may comprise an inertial navigation system having gyroscopes to detect angular velocity and accelerometers for the detection of linear velocity and transported by an underwater robotic apparatus or diver, the inertial navigation system outputting position and orientation data of the device for storage; an aiding device for collecting image data of the subsea objects, the aiding device being positioned so that the distance and orientation between the optical scanner and the inertial navigation system is known; and a computer for using the position information and image data between a successively visited known point to determine the drift of the metrology device and to use the drift of the metrology device to correct measurements of same.

主权项

1. A metrology device comprising:
an inertial navigation system (INS), including one or more gyroscopes and one or more accelerometers, adapted to be transported and output position and orientation data; an aiding device to record image data, and being configured to output distance and orientation data between the aiding device and the INS; a controller, including one or more processors and non-transitory memory to store the position and orientation data from the INS and the distance and orientation data from the aiding device together with time tag data indicating when the data was output from the INS before storage and when the data was output from the aiding device before storage;
a computer defining a control center computer and being in communication with the controller, the control center computer having one or more processors and non-transitory memory, the memory having computer readable instructions stored therein that when executed cause the control center to execute the instructions of: measuring, responsive to collecting (a) first subsea object data from the controller, the first subsea data including data from the INS and aiding device including first object position, range and orientation data, and image data; (b) second subsea object data from the controller, the second subsea data including data from the INS and aiding device including second object position, range and orientation data, and image data; and (c) navigated first subsea object data from the controller, the navigated first subsea object data including data from the INS and aiding device including navigated first object position, range and orientation data, and image data, a difference in the position of the navigated first object position and the first object position; calculating a drift correction for the INS responsive to a difference between the first subsea object position and the navigated first subsea object position; measuring a target position responsive to collecting target object data from the controller; and correcting the measured position of the target responsive to calculated drift.