Method for determining speed of underwater vessel above ground, involves determining time offset between first and second distance profiles of series of sensor acquired distances values over time, to calculate ground speed

摘要

The method involves scanning ground (2) by first optical sensor (3) for determining distance of first sensor to base. The ground is scanned by second optical sensor (4) for determining distance of second sensor to base. The second sensor is arranged on underwater vehicle at predetermined distance (L) to first sensor. The first and second distance profiles of series of first and second sensor acquired distance values over time are created. The interrelated setting of profiles is performed. The time offset between two distance profiles is determined, to calculate the ground speed. An independent claim is included for arrangement for determining speed of underwater vessel above ground.