公开(公告)号：US11199607B2

公开(公告)日：2021-12-14

申请号：US16490801

申请日：2018-02-22

Applicant: SAIPEM S.A.

Inventor： Eric Guilloux

IPC: F16L1/16 ,  G01S5/18 ,  G01S15/86 ,  G01C11/00 ,  G01S17/87

Abstract: A combined metrology method is provided for calculating the distance, the roll and pitch attitudes, and the relative orientations between two undersea points of interest. The method comprises positioning on the sea bottom a long-range acoustic positioning system having acoustic beacons, calibrating the system in order to determine the positions of the beacons relative to one another, deploying a vehicle on the sea bottom, taking a plurality of scenes around each point of interest in order to acquire point clouds, and processing the point clouds in order to calculate the coordinates of points in a common reference frame defined by the array of beacons and centered on the position of one of the acoustic beacons.