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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。
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2.发明授权System for determining a precise location and orientation of a concealed dipole transmitter 有权用于确定隐蔽偶极子发射器的精确位置和取向的系统公开(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
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。
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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
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。
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公开(公告)号：US20100141261A1
公开(公告)日：2010-06-10
申请号：US12315696
申请日：2008-12-05
申请人： Johan Overby , James W. Waite , Dimitar Gargov , Kun Li
发明人： Johan Overby , James W. Waite , Dimitar Gargov , Kun Li
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。
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公开(公告)号：US09151822B2
公开(公告)日：2015-10-06
申请号：US12982723
申请日：2010-12-30
CPC分类号： G01S5/0252 , G01S5/0221 , G01S5/0226 , G01S5/0247 , G01V3/081
摘要： A method for determining the location and orientation of a transmitter object by measuring a set of complex electromagnetic field magnitude and phase strengths within a space using one or more receivers is provided. The method includes modeling a set of expected complex electromagnetic strengths to estimated position and orientation of the transmitter object. And estimating parameters related to the transmitter object position based on the residual error between the measured set of complex electromagnetic field values and a set of expected electromagnetic field values. Further embodiments include a method as above including a plurality of receivers with known positions within a limited space including the transmitter object. A sensor network including a plurality of receivers to perform the above method is also provided. The receivers may communicate using a wireless channel.
摘要翻译： 提供了一种用于通过使用一个或多个接收器测量空间内的一组复杂电磁场幅度和相位强度来确定发射器物体的位置和取向的方法。 该方法包括将一组预期的复杂电磁强度建模到发射器对象的估计位置和取向。 并且基于测量的复合电磁场值集合与一组预期电磁场值之间的残差来估计与发射器对象位置有关的参数。 另外的实施例包括如上所述的方法，包括在包括发射器对象的有限空间内具有已知位置的多个接收器。 还提供了包括用于执行上述方法的多个接收器的传感器网络。 接收机可以使用无线信道进行通信。
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公开(公告)号：US09037314B2
公开(公告)日：2015-05-19
申请号：US13164611
申请日：2011-06-20
CPC分类号： G01C21/00 , B64C2201/141 , G01B7/00 , G01C21/005 , G01C21/20 , G05D1/101
摘要： A system and method for providing autonomous navigation for an Unmanned Air Vehicle (UAV) in the vicinity of power lines is presented. Autonomous navigation is achieved by measuring the magnitude and phase of the electromagnetic field at an unknown location within a space under excitation by a set of power cables of the power line with one or more orthogonal electromagnetic sensors formed on the UAV; modeling a set of expected complex electromagnetic strengths of the set of power cables at the currently estimated position and orientation of the UAV based on a model of the set of power cables; and estimating parameters related to a position and orientation of the UAV, and load parameters of each cable based on the residual error between the measured set of complex electromagnetic field values and the set of expected electromagnetic field values corresponding to a combined model of the set of power cables.
摘要翻译： 提出了一种用于为电力线附近的无人机（UAV）提供自主导航的系统和方法。 通过在UAV上形成的一个或多个正交电磁传感器的电力线的一组电力电缆在激励下测量在空间内的未知位置处的电磁场的大小和相位来实现自主导航; 基于该组电力电缆的模型，在当前估计的UAV位置和方向上建模一组电力电缆的预期复合电磁强度; 以及估计与无人机的位置和方向相关的参数，以及基于所测量的复电磁场值集合与对应于该组电磁场值的组合模型的一组预期电磁场值之间的残余误差来加载每个电缆的参数 电力电缆
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公开(公告)号：US20120016538A1
公开(公告)日：2012-01-19
申请号：US13164611
申请日：2011-06-20
CPC分类号： G01C21/00 , B64C2201/141 , G01B7/00 , G01C21/005 , G01C21/20 , G05D1/101
摘要： A system and method for providing autonomous navigation for an Unmanned Air Vehicle (UAV) in the vicinity of power lines is presented. Autonomous navigation is achieved by measuring the magnitude and phase of the electromagnetic field at an unknown location within a space under excitation by a set of power cables of the power line with one or more orthogonal electromagnetic sensors formed on the UAV; modeling a set of expected complex electromagnetic strengths of the set of power cables at the currently estimated position and orientation of the UAV based on a model of the set of power cables; and estimating parameters related to a position and orientation of the UAV, and load parameters of each cable based on the residual error between the measured set of complex electromagnetic field values and the set of expected electromagnetic field values corresponding to a combined model of the set of power cables.
摘要翻译： 提出了一种用于为电力线附近的无人机（UAV）提供自主导航的系统和方法。 通过在UAV上形成的一个或多个正交电磁传感器的电力线的一组电力电缆在激励下测量在空间内的未知位置处的电磁场的大小和相位来实现自主导航; 基于该组电力电缆的模型，在当前估计的UAV位置和方向上建模一组电力电缆的预期复合电磁强度; 以及估计与无人机的位置和方向相关的参数，以及基于所测量的复电磁场值集合与对应于该组电磁场值的组合模型的一组预期电磁场值之间的残余误差来加载每个电缆的参数 电力电缆
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8.发明授权Method and apparatus for digital detection of electromagnetic signal strength and signal direction in metallic pipes and cables 有权金属管道和电缆中电磁信号强度和信号方向的数字检测方法和装置公开(公告)号：US07062414B2
公开(公告)日：2006-06-13
申请号：US10622376
申请日：2003-07-18
申请人： James W. Waite , Johan D. Overby
发明人： James W. Waite , Johan D. Overby
IPC分类号： G01V3/08
CPC分类号： G01V3/12
摘要： A new digital architecture for metallic pipe and cable locators, providing accurate estimation of the fundamental locate parameters, electromagnetic signal strength and signal direction, and utilizing a nested Digital Phase-Locked Loop (DPLL) structure is disclosed. The obstacles to signal direction measurement in low SINR environments using the signal select method are overcome and a more precise phase comparison between the carrier and the FM modulation signals is obtained. The architecture further significantly reduces analog front-end hardware requirements, offers wider resistance to component tolerances, lower calibration and test time, and provides flexible frequency selectivity. Locators according to the present invention provide accurate estimation of the fundamental physical parameters of line location (electromagnetic signal strength and signal direction) in extremely noisy environments, using Digital Signal Processing (DSP) methods.
摘要翻译： 公开了一种用于金属管道和电缆定位器的新型数字架构，提供了对基本定位参数，电磁信号强度和信号方向的准确估计，以及利用嵌套数字锁相环（DPLL）结构。 使用信号选择方法在低SINR环境中信号方向测量的障碍被克服，并且获得载波和FM调制信号之间的更精确的相位比较。 该架构进一步显着降低了模拟前端硬件要求，提供更宽的元件容差阻力，降低校准和测试时间，并提供灵活的频率选择性。 根据本发明的定位器使用数字信号处理（DSP）方法在极其嘈杂的环境中提供线路位置（电磁信号强度和信号方向）的基本物理参数的精确估计。
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公开(公告)号：US20220099699A1
公开(公告)日：2022-03-31
申请号：US17332390
申请日：2021-05-27
摘要： An airborne acoustic vector sensor for simultaneously measuring triaxial particle acceleration in three dimensions and pressure includes a triaxial MEMS accelerometer sensitive to an Earth gravitational field. The airborne acoustic vector sensor includes one or multiple MEMS microphones sensitive to sound pressure and overlapping the accelerometer in frequency. The airborne acoustic vector sensor includes a solid body having a density approximating a density of air. The accelerometer is mounted in or upon the solid body. The airborne acoustic vector sensor includes a suspension system supporting the accelerometer and solid body within a framework.
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10.发明授权公开(公告)号：US07113124B2
公开(公告)日：2006-09-26
申请号：US10997729
申请日：2004-11-23
申请人： James W. Waite
发明人： James W. Waite
CPC分类号： G01V3/12 , Y02A90/344
摘要： A locator capable of tracking buried, non-metallic utility lines (fiber optic, gas, water, waste, conduits) using ground penetrating radar (GPR) and an inertial position sensor is described. In some embodiments, a tracking filter is applied to a hyperbolic trajectory model based on the radar range data to determine a predicted track of the target utility line. After comparison of the predicted track to the measured inertial position, the centerline variance of the tracked line can be deduced. In some embodiments, an electromagnetic pipe and cable locator may also be included. Some embodiments of the invention can include accurate depth calibration and line depth tracking. Further, a display may provide results to a user in a simplified fashion.
摘要翻译： 描述了能够使用地面穿透雷达（GPR）和惯性位置传感器跟踪埋藏的非金属公用事业线（光纤，气体，水，废物，管道）的定位器。 在一些实施例中，基于雷达范围数据将跟踪滤波器应用于双曲线轨迹模型，以确定目标公用事业线的预测轨迹。 在将预测轨迹与测量的惯性位置进行比较之后，可以推导出跟踪线的中心线方差。 在一些实施例中，还可以包括电磁管和电缆定位器。 本发明的一些实施例可以包括准确的深度校准和线深度跟踪。 此外，显示器可以以简化的方式向用户提供结果。
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