SYSTÈME ET PROCÉDÉ DE DÉTECTION DE PROXIMITÉ POUR UN NAVIRE AVEC ESTIMATION DE LOCALISATION AUTOMATIQUE DE CAPTEUR DE PROXIMITÉ

摘要

A system for proximity sensing on a marine vessel (10) includes a main inertial measurement unit (IMU) (36) positioned at a main installation attitude and a main location, a first proximity sensor (72, 74, 76, 78) configured to measure proximity of objects from a first sensor location, and a first sensor IMU (62, 64, 66, 68) positioned at the first sensor location and at a first installation attitude. A sensor processor (70) is configured to receive main IMU data (80) from the main IMU (36) and first IMU data (82) from the first sensor IMU (62, 64, 66, 68), and then determine a relative orientation transform (94) between the main installation attitude and the first installation attitude by comparing the main IMU data (80) and the first IMU data (82), and then determine a relative position transform (98) between the main location and the first sensor location based on the relative orientation transform (94), the main IMU data (80), and the first IMU data (82).