Boots – shoes – and leggings
Patent
1992-07-01
1994-10-18
Black, Thomas G.
Boots, shoes, and leggings
364457, 364559, G06F 1550
Patent
active
053574370
ABSTRACT:
A magnetic marker position fixing and resetting system for vehicles searching an area on the floor of a body of water. The vehicle has an inertial navigation system for determining its position and angular orientation with respect to a set of cartesian axes fixed in the earth. The vehicle deploys at least one magnetic marker in the search area. The positions of the markers in the earth-based axes and the magnitude of their magnetic moments are determined and are stored in a computer in the vehicle. The vehicle is equipped with a triaxial vector magnetometer in which the magnetic sensors are mutually orthogonal. When the vehicle's navigation system requires a position reset, the triaxial vector magnetometer on the vehicle detects the marker's magnetic induction components along x, y and z cartesian axes fixed in the vehicle. Algorithms are exercised in the vehicle's computer which use the measured x, y and z components of the marker's magnetic induction to provide a precise estimate of the vehicle's position with respect to the fixed magnetic marker in the vehicle-based axes. This relative position is transformed to components along the earth-based axes. The vehicle's position in the earth-based axes is then computed from the measurement of its position relative to the marker in the earth-based axes and the marker's known position in the earth-based axes. Comparing this derived vehicle position with the vehicle's position as determined by its inertial navigation system provides the required position reset.
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patent: 4766385 (1988-08-01), Polvani
patent: 4908557 (1990-03-01), Sudare et al.
"A Portable Low Noise Frequency Three-Axis Search Coil Magnetometer" by S. A. Macintyre, ENSCO, Inc., pp. 761-763, published in IEEE Transactions of Magnetics, vol. Mag.-16, No. 5, Sep. 1980.
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"Handbook of Electromagnetic Propagation in Conducting Media" by Headquarters Naval Material Command, pp. 3-1-3-2, 1976.
"Magnetic Guidance of Autonomous Vehicles" by Donald G. Polvani, presented at Oceans '86, IEEE/MTS, Washington, D.C., 1986.
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Black Thomas G.
Westinghouse Electric Corporation
Zanelli Michael
LandOfFree
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