Position control system for a subsea vehicle
US4017823A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Jul 21, 1975 |
| Grant date | Apr 12, 1977 |
| Priority date | — |
| Expiry date | Jul 21, 1995 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01S15/582
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
A position control system, for use in positioning relative to a subsea well a subsea vehicle or a re-entry tool having thrusters, including a Doppler sonar system connected to the vehicle and operable for generating a Doppler pulse train signal having a pulse rate substantially proportional to the Doppler frequency produced by a change in the spatial position of the vehicle along a predetermined linear coordinate, whereby the occurrence of each pulse signal in the Doppler pulse train signal corresponds substantially to a predetermined linear distance, velocity measurement means coupled to the Doppler pulse train signal and operable for converting it into an equivalent velocity amplitude, a pulse generator operable for producing a predetermined number of pulse signals equivalent to a certain linear distance along the coordinate, up/down counter means operable for counting up from one signal and down from another signal, connection means operable for connecting the up/down counter means to the Doppler pulse train signal and the pulse generator for opposite counting therein, and drive means connected to the up/down counter means and operable for supplying the count therein as an error…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.