| 摘要 |
<p>A system for precise positioning of subsea units (12) has a remotely operated vehicle (24), an inertial measurement unit (32) positioned on the vehicle (24) so as to produce a signal relative to a position of the subsea unit (12), a doppler velocity log (40) coupled to the vehicle (24) in producing a signal relative to the position of the subsea unit (12), a baseline measurement device (42) coupled to the vehicle (24) and producing a signal relative to the position of the subsea unit (12), a Kalman filter (62) cooperative with the signals from the inertial measurement unit (32) and the doppler velocity log (40) and the baseline measurement device, and a processor cooperative with the Kalman filter (62) for producing an output indicative of the positioning of the subsea unit (12). The doppler velocity log (40) includes a plurality of beams (78, 80, 82, 84) which are individually connected to the Kalman Filter (62).</p> |
