公开(公告)号：US09158024B2

公开(公告)日：2015-10-13

申请号：US13477909

申请日：2012-05-22

申请人： Johan Överby ,  James W. Waite ,  Dimitar Gargov ,  Kun Li

发明人： Johan Överby ,  James W. Waite ,  Dimitar Gargov ,  Kun Li

IPC分类号： G01V3/08 ,  G01V3/12

CPC分类号： G01V3/12

摘要： A system for determining the position of an underground sonde transmitter is disclosed. In some embodiments, the system measures a set of complex electromagnetic field magnitude and phase strengths at one or more positions while traversing a target sonde path at any angle using one or more electromagnetic coil sensors, models a set of expected complex electromagnetic strengths of a hypothetical sonde at the positions for one or more of the electromagnetic coil sensors, the set of expected electromagnetic field values corresponding to a model for the target sonde, and estimates parameters related to the target sonde based on the residual error between the measured set of complex electromagnetic field values and the modeled set of expected complex electromagnetic field strengths. A final estimated parameter set is determined after the residual error has converged to a minimum tolerance to indicate the sonde transmitter position.

摘要翻译： 公开了一种用于确定地下探空发射器的位置的系统。 在一些实施例中，系统在一个或多个位置处测量一组复杂的电磁场幅度和相位强度，同时使用一个或多个电磁线圈传感器以任何角度穿过目标探空仪路径，模拟一组预期的复合电磁强度 在一个或多个电磁线圈传感器的位置处的探测器，对应于目标探空器的模型的一组预期电磁场值，并且基于测量的复合电磁场的集合来估计与目标探测器相关的参数 场值和模拟的预期复合电磁场强度集合。 在剩余误差已经收敛到最小容差以指示探头发射机位置之后，确定最终估计参数集。

公开(公告)号：US20090128156A1

公开(公告)日：2009-05-21

申请号：US12209999

申请日：2008-09-12

申请人： Kun Li ,  Jim Waite ,  Ruwan Welaratna ,  Johan Overby ,  Paolo Salvagione

发明人： Kun Li ,  Jim Waite ,  Ruwan Welaratna ,  Johan Overby ,  Paolo Salvagione

IPC分类号： G01V3/11 ,  G06F19/00

CPC分类号： G01R29/085 ,  G01V3/081 ,  G01V3/104 ,  G01V3/15 ,  G01V3/38

摘要： A method for determining the location of underground cables and pipes is disclosed. In some embodiments, the method includes measuring a set of electromagnetic field magnitudes and phases at a plurality of positions while traversing a target line parallelly using 3D electromagnetic coil sensors, the 3D electromagnetic coil sensors being orthogonally oriented to the target line, modeling a set of expected complex electromagnetic field magnitudes of a single underground conductor at each of the positions to form a set of values corresponding to a set of individual models for the target line, determining which of the set of individuals models is a best model, determining confidence information at each of the positions based on a comparison between the measured set of complex electromagnetic magnitudes and phases and the best model, and determining parameters at each of positions related to the target line from the best model.

摘要翻译： 公开了一种确定地下电缆和管道位置的方法。 在一些实施例中，该方法包括在使用3D电磁线圈传感器平行地横过目标线的同时测量多个位置处的一组电磁场幅度和相位，3D电磁线圈传感器正向定向到目标线，对一组 预期在每个位置处的单个地下导体的复杂电磁场强度以形成对应于用于目标线的一组单独模型的值的集合，确定该组个人模型中的哪一个是最佳模型，确定 基于所测量的复电磁幅度和相位的组合之间的比较以及最佳模型的每个位置，以及在与最佳模型中的目标线相关的每个位置处确定参数。

公开(公告)号：US20070040558A1

公开(公告)日：2007-02-22

申请号：US11590267

申请日：2006-10-30

申请人： Johan Overby ,  James Waite

发明人： Johan Overby ,  James Waite

IPC分类号： G01V3/08

CPC分类号： F16L1/11 ,  G01V15/00

摘要： An electronic marker locator with a digital architecture for providing accurate and consistent estimation of the signal strength is presented. The marker locator includes a Digital Phase-Locked Loop (DPLL) structure. The electronic marker locator transmits known and adjustable frequency bursts corresponding to the markers to be located while synchronously capturing the signals returned from the markers. Because of the convergence properties of the DPLL, very consistent measurements of the reflected marker signal field strength are possible, resulting in both an improvement of maximum detection depth and depth accuracy. Further, the analog front-end hardware can be reduced, offering wider resistance to component tolerances, lower calibration and test times, and flexible frequency selectivity.

摘要翻译： 提出了一种具有数字架构的电子标记定位器，用于提供准确一致的信号强度估计。 标记定位器包括数字锁相环（DPLL）结构。 电子标记定位器在同步捕获从标记返回的信号的同时发送对应于要定位的标记的已知和可调节的频率突发。 由于DPLL的收敛特性，反射标记信号场强的非常一致的测量是可能的，从而提高了最大检测深度和深度精度。 此外，可以减少模拟前端硬件，提供更宽的元件容差阻力，降低校准和测试时间以及灵活的频率选择性。

公开(公告)号：US08515689B2

公开(公告)日：2013-08-20

申请号：US12209999

申请日：2008-09-12

申请人： Kun Li ,  Jim Waite ,  Ruwan Welaratna ,  Johan Overby ,  Paolo Salvagione

发明人： Kun Li ,  Jim Waite ,  Ruwan Welaratna ,  Johan Overby ,  Paolo Salvagione

IPC分类号： G01B5/30

CPC分类号： G01R29/085 ,  G01V3/081 ,  G01V3/104 ,  G01V3/15 ,  G01V3/38

摘要： A method for determining the location of underground cables and pipes is disclosed. In some embodiments, the method includes measuring a set of electromagnetic field magnitudes and phases at a plurality of positions while traversing a target line parallelly using 3D electromagnetic coil sensors, the 3D electromagnetic coil sensors being orthogonally oriented to the target line, modeling a set of expected complex electromagnetic field magnitudes of a single underground conductor at each of the positions to form a set of values corresponding to a set of individual models for the target line, determining which of the set of individuals models is a best model, determining confidence information at each of the positions based on a comparison between the measured set of complex electromagnetic magnitudes and phases and the best model, and determining parameters at each of positions related to the target line from the best model.

摘要翻译： 公开了一种确定地下电缆和管道位置的方法。 在一些实施例中，该方法包括在使用3D电磁线圈传感器平行地横过目标线的同时测量多个位置处的一组电磁场幅度和相位，3D电磁线圈传感器正向定向到目标线，对一组 预期在每个位置处的单个地下导体的复杂电磁场强度以形成对应于用于目标线的一组单独模型的值的集合，确定该组个人模型中的哪一个是最佳模型，确定 基于所测量的复电磁幅度和相位的组合之间的比较以及最佳模型的每个位置，以及在与最佳模型中的目标线相关的每个位置处确定参数。

公开(公告)号：US07834801B2

公开(公告)日：2010-11-16

申请号：US11193100

申请日：2005-07-29

申请人： James W. Waite ,  Ruwan Welaratna

发明人： James W. Waite ,  Ruwan Welaratna

IPC分类号： G01S13/89 ,  G01V11/00

CPC分类号： G01V11/00 ,  G01S13/86 ,  G01S13/885

摘要： Line locator systems that fuse traditional sensors used in a combined pipe and cable locator (electromagnetic coils, magnetometers, and ground penetrating radar antennas) with low cost inertial sensors (accelerometers, gyroscopes) in a model-based approach are presented. Such systems can utilize inexpensive MEMS sensors for inertial navigation. A pseudo-inertial frame is defined that uses the centerline of the tracked utility, or an aboveground fixed object as the navigational reference. An inertial sensor correction mechanism that limits the tracking errors over time when the model is implemented in state-space form using, for example, the Extended Kalman Filter (EKF) is disclosed.

摘要翻译： 介绍了在基于模型的方法中使用低成本惯性传感器（加速度计，陀螺仪）将传统传感器用于组合管道和电缆定位器（电磁线圈，磁力计和地面穿透雷达天线）的线路定位系统。 这种系统可以利用廉价的MEMS传感器进行惯性导航。 定义了一个伪惯性框架，它使用跟踪实用程序的中心线或地上固定对象作为导航参考。 公开了一种使用例如扩展卡尔曼滤波器（EKF）在模态以状态空间形式实现模型时限制跟踪误差的惯性传感器校正机构。

公开(公告)号：US07285958B2

公开(公告)日：2007-10-23

申请号：US10759747

申请日：2004-01-15

申请人： Johan D. Overby ,  James W. Waite

发明人： Johan D. Overby ,  James W. Waite

IPC分类号： G01V3/08 ,  G01V3/11

CPC分类号： F16L1/11 ,  G01V15/00

摘要： An electronic marker locator with a digital architecture for providing accurate and consistent estimation of the signal strength is presented. The marker locator includes a Digital Phase-Locked Loop (DPLL) structure. The electronic marker locator transmits known and adjustable frequency bursts corresponding to the markers to be located while synchronously capturing the signals returned from the markers.

摘要翻译： 提出了一种具有数字架构的电子标记定位器，用于提供准确一致的信号强度估计。 标记定位器包括数字锁相环（DPLL）结构。 电子标记定位器在同步捕获从标记返回的信号的同时发送对应于要定位的标记的已知和可调节的频率突发。

公开(公告)号：US08188745B2

公开(公告)日：2012-05-29

申请号：US12315696

申请日：2008-12-05

申请人： Johan Överby ,  James W. Waite ,  Dimitar Gargov ,  Kun Li

发明人： Johan Överby ,  James W. Waite ,  Dimitar Gargov ,  Kun Li

IPC分类号： G01V3/08

CPC分类号： G01V3/12

摘要： A method for determining the location of an underground sonde transmitter is disclosed. In some embodiments, the method includes measuring a set of complex electromagnetic field magnitude and phase strengths at one or more of positions while traversing a target sonde path at any angle using one or more electromagnetic coil sensors, modeling a set of expected complex electromagnetic strengths of a hypothetical sonde at the one or more of positions for one or more of the electromagnetic coil sensors, the set of expected electromagnetic field values corresponding to a model for the target sonde, and estimating parameters related to the target sonde based on the residual error between the measured set of complex electromagnetic field values and the modeled set of expected complex electromagnetic field strengths, wherein a final estimated parameter set is determined after the residual error has converged to a minimum tolerance.

摘要翻译： 公开了一种用于确定地下探空发射机位置的方法。 在一些实施例中，该方法包括在一个或多个位置处测量一组复杂电磁场幅度和相位强度，同时使用一个或多个电磁线圈传感器以任何角度穿过目标探空仪路径，对一组预期复合电磁强度进行建模 一个或多个用于一个或多个电磁线圈传感器的一个或多个位置的假想探头，与目标探测器的模型相对应的一组预期电磁场值，以及基于目标探测器相关的参数， 测量的复电磁场值集合和所建模的预期复电磁场强度集合，其中在残差误差已经收敛到最小公差之后确定最终估计参数集。

公开(公告)号：US07358738B2

公开(公告)日：2008-04-15

申请号：US11590267

申请日：2006-10-30

申请人： Johan D. Overby ,  James W. Waite

发明人： Johan D. Overby ,  James W. Waite

IPC分类号： G01V3/08 ,  G01V3/11

CPC分类号： F16L1/11 ,  G01V15/00

摘要： An electronic marker locator with a digital architecture for providing accurate and consistent estimation of the signal strength is presented. The marker locator includes a Digital Phase-Locked Loop (DPLL) structure. The electronic marker locator transmits known and adjustable frequency bursts corresponding to the markers to be located while synchronously capturing the signals returned from the markers. Because of the convergence properties of the DPLL, very consistent measurements of the reflected marker signal field strength are possible, resulting in both an improvement of maximum detection depth and depth accuracy. Further, the analog front-end hardware can be reduced, offering wider resistance to component tolerances, lower calibration and test times, and flexible frequency selectivity.

摘要翻译： 提出了一种具有数字架构的电子标记定位器，用于提供准确一致的信号强度估计。 标记定位器包括数字锁相环（DPLL）结构。 电子标记定位器在同步捕获从标记返回的信号的同时发送对应于要定位的标记的已知和可调节的频率突发。 由于DPLL的收敛特性，反射标记信号场强的非常一致的测量是可能的，从而提高了最大检测深度和深度精度。 此外，可以减少模拟前端硬件，提供更宽的元件容差阻力，降低校准和测试时间以及灵活的频率选择性。

公开(公告)号：US20120232800A1

公开(公告)日：2012-09-13

申请号：US13477909

申请日：2012-05-22

申请人： JOHAN OVERBY ,  James W. Waite ,  Dimitar Gargov ,  Kun Li

发明人： JOHAN OVERBY ,  James W. Waite ,  Dimitar Gargov ,  Kun Li

IPC分类号： G06F17/40 ,  G01V3/12 ,  G06F19/00

CPC分类号： G01V3/12

摘要： A method for determining the location of an underground sonde transmitter is disclosed. In some embodiments, the method includes measuring a set of complex electromagnetic field magnitude and phase strengths at one or more of positions while traversing a target sonde path at any angle using one or more electromagnetic coil sensors, modeling a set of expected complex electromagnetic strengths of a hypothetical sonde at the one or more of positions for one or more of the electromagnetic coil sensors, the set of expected electromagnetic field values corresponding to a model for the target sonde, and estimating parameters related to the target sonde based on the residual error between the measured set of complex electromagnetic field values and the modeled set of expected complex electromagnetic field strengths, wherein a final estimated parameter set is determined after the residual error has converged to a minimum tolerance.

摘要翻译： 公开了一种用于确定地下探空发射机位置的方法。 在一些实施例中，该方法包括在一个或多个位置处测量一组复杂电磁场幅度和相位强度，同时使用一个或多个电磁线圈传感器以任何角度穿过目标探空仪路径，对一组预期复合电磁强度进行建模 一个或多个用于一个或多个电磁线圈传感器的一个或多个位置的假想探头，与目标探测器的模型相对应的一组预期电磁场值，以及基于目标探测器相关的参数， 测量的复电磁场值集合和所建模的预期复电磁场强度集合，其中在残差误差已经收敛到最小公差之后确定最终估计参数集。

公开(公告)号：US08209136B2

公开(公告)日：2012-06-26

申请号：US12122136

申请日：2008-05-16

申请人： Kun Li

发明人： Kun Li

IPC分类号： G01B5/30

CPC分类号： G01R29/085 ,  G01V3/081 ,  G01V3/165 ,  G01V3/38

摘要： A line locator includes a signal detector to detect signals from an underground line; an error modeler that models a phase error in the signal from neighboring underground lines; and an enhanced electromagnetic field modeler that provides a location of the underground line based on the signal and a result from the error modeler.

摘要翻译： 线路定位器包括用于检测来自地下线路的信号的信号检测器; 一个误差建模者，用于对来自相邻地下线的信号进行相位误差建模; 以及基于信号提供地下线路的位置和来自误差建模器的结果的增强型电磁场建模器。