| 摘要 |
The invention relates to a device for autonomously determining its absolute geographic coordinates by a mobile changing with regard to immersion. The invention relates to mobiles operating while immersed and whose activity needs to be able to determine their absolute geographic coordinates. This is particularly the case of mobiles carrying out ground surveying operations, excavations or, more generally, exploration operations. By mobile, one also means a free diver, a manned vehicle or an automatic vehicle. The inventive device comprises on-board calculating means (31) associated with surface positioning means (32) of the GPS- or GALILEO-type receiver, with underwater positioning means (33) operating in conjunction, on the principle of homing, with a fixed immersed acoustic beacon (41), and with a set of sensors (36) enabling the mobile (42) to know its changing depth, its horizontality, and the difference between the followed direction and a fixed direction, for example, the magnetic north. The acquired data set is utilized by the calculating means for determining, at any moment, the absolute geographic position and the changing depth of the mobile (42), particularly when it changes with regard to immersion. |
