Diving computer for determining the position of a diver

Abstract

The invention relates to a dive computer for determining the position of a diver (2) with at least one position sensor (7), characterized in that the position sensor (7) has at least one fastening means (25) for fastening to the torso of the diver (2), and in that the position sensor (7) is designed to assume a substantially fixed position relative to the torso of the diver (2) by means of the fastening means (25) in the fastened state.

Description

[0001] The invention relates to a dive computer for determining the position of a diver with at least one position sensor.

[0002] It also concerns a procedure for conducting a dive.

[0003] Divers typically use diving equipment consisting of a breathing apparatus, diving suit, diving mask, fins, etc. Breathing equipment is divided into open systems, in which exhaled air is released into the environment, and closed systems, in which the exhaled air is reprocessed. Such closed systems are known as rebreathers. Open systems usually consist of one or more scuba cylinders, which carry breathing gas at high pressure (up to 350 bar). These scuba cylinders are usually worn on the back. For longer and deeper dives, double cylinders are often used. The scuba cylinder is worn with a backplate and a harness. The so-called "jacket" is very popular among recreational divers. This is a combined system consisting of a cylinder carrying device and a buoyancy aid. Weight pouches are often integrated.

[0004] In these systems, the bottle is usually parallel to the body axis.

[0005] Combat swimmers typically use oxygen rebreathers, which are usually worn on the chest. A correctly mounted device is usually parallel to the body's axis.

[0006] If mixed gas recirculation devices are used, they are worn on the back, chest or side.

[0007] Divers primarily use a compass for navigation. GPS doesn't work underwater. While there are systems that carry GPS receivers on a buoy, these are rarely used because the cable connection to the buoy is cumbersome and potentially dangerous. There are also situations where a buoy isn't suitable at all: these include cave or wreck diving, for example, where a direct connection to the surface is often unavailable.

[0008] Underwater navigation is much more complicated than on the surface, as poor visibility often leaves few, if any, reference points available for orientation and navigation. Therefore, one plans the desired diving direction before the dive and then attempts to maintain it as precisely as possible during the dive. The diver typically holds the compass in front of them and tries to keep it parallel to their body axis. Both hands are often used for this purpose.

[0009] Combat divers, who must navigate their targets with even greater precision over longer distances and often without any reference, use navigation boards mounted with a compass, depth gauge, and stopwatch. These navigation boards are held with both hands parallel to the body's axis, as the body's axis corresponds to the direction of swimming.

[0010] The disadvantage of this method is that the diver must always hold the compass correctly; otherwise, it can easily lead to navigation errors. This is particularly disadvantageous for combat swimmers, as both hands are required, making it difficult for the diver to operate additional equipment.

[0011] When you're underwater in poor visibility and have no reference point because you can't see the bottom or the surface, navigation becomes very difficult, and the diver may not even be able to determine which way is up. Diving courses teach you to look for the direction the air bubbles are moving. However, this isn't possible with rebreathers, as no bubbles are created.

[0012] There are now dive computers that can be mounted directly on the mask, for example. These often also have an integrated compass and, in some cases, a position sensor, theoretically allowing hands-free use. While this makes it possible to aim at a point and determine the desired compass direction and position of the diver freehand, it is difficult to align these dive computers precisely with the body's axis while diving underwater, thus determining the exact swimming direction and position.

[0013] When diving, the diver's position in the water is also very important. Ideally, the diver assumes a position where the body is as horizontal as possible. Depending on the finning stroke, the legs are either straight or bent. A horizontal position in the water is preferable for several reasons. Firstly, it minimizes water resistance and allows the diver to move more efficiently, with less effort, and faster. Secondly, a horizontal position is also advantageous during decompression.

[0014] In diving training for advanced divers, great emphasis is placed on maintaining a horizontal position in the water. However, this is often difficult for divers to learn, as they cannot see themselves in the water and lack a reference point for assessment. Therefore, diving instructors often film their students underwater so that they can subsequently analyze the dive on the surface and also provide the students with feedback on their position in the water. This feedback, as mentioned, only comes after the dive; for rapid learning success, direct feedback during the dive would be beneficial. A dive computer that can determine the diver's position and then display it directly to the diver would be advantageous in this case, but is not known from the literature.

[0015] While there are dive computers that also have integrated accelerometers and can be used to measure angles, these are typically worn on the arm and are unsuitable for measuring the body's position relative to the horizontal. EP 2 937 276 A describes various types of dive computers that are either worn on the wrist or mounted directly on a diving mask.

[0016] The invention aims to enable more efficient and faster movement while diving. Another objective is to give the diver a better overview of his position in the water.

[0017] This object is achieved in that the position sensor has at least one fastening means for fastening to the torso of the diver and in that the position sensor is designed to assume a substantially fixed position relative to the torso of the diver in the fastened state by means of the fastening means and in that the dive computer is designed in at least two pieces and the display and position sensor are arranged on different pieces.

[0018] According to the invention, it is achieved by a method, wherein a diver fastens a position sensor of a dive computer to the diver's torso with at least one fastening means, so that the position sensor assumes a substantially fixed position relative to the diver's torso by means of the fastening means, wherein the position sensor determines the position of the diver and transmits data relating to this determined position to a display, and wherein the display shows the diver information on the basis of the transmitted data.

[0019] In this way, the diver's pitch and / or roll angles and / or compass direction can be measured and these measured values ​​can be shown on a display that can be read by the diver. This invention solves the problem with a dive computer that is mounted on the diving equipment, ideally on the diving cylinders worn on the back, a rebreather worn on the chest, or for example on a plate carrier in a fixed position relative to the position of the torso. This device contains one or more sensors, preferably for measuring the acceleration vector and / or the earth's magnetic field vector. A gyroscope can be integrated to increase accuracy. Roll and pitch angles as well as compass direction are calculated, for example using a microcontroller. The calculated values ​​are transmitted via a preferably magnetic data transmission to the display, which is mounted, for example, on the wrist or directly on the diving mask.

[0020] In many applications, it is disadvantageous to align the dive computer's coordinate system with that of the diver. This can be solved by first calibrating the measuring system in one or more known positions, calculating a transformation matrix, and thus transforming the measured values ​​from the dive computer's coordinate system into that of the diver. In this sense, a method for calibrating a dive computer according to the invention is advantageous, wherein the dive computer is calibrated in at least one known position.

[0021] It is particularly advantageous in this sense if the calibration comprises that at least one, preferably at least two or at least three acceleration vectors are measured by at least one acceleration sensor of the position sensor in at least one, preferably at least two or at least three positional positions and a rotation matrix is ​​determined from the at least one acceleration vector in the at least one positional position.

[0022] Calibration can be performed with two points, which is sufficient to determine the diver's pitch angle, for example. However, calibration can also be performed with three points, which also allows the roll angle to be determined.

[0023] The position sensor can be attached directly or indirectly to the diver's torso. For example, the attachment means can comprise a strap that, when attached, is guided around the diver's torso outside or inside any diving suits, thus determining the position of the position sensor.

[0024] It can also be provided that the position sensor can be indirectly attached to the diver's torso. For example, this can be achieved by configuring the attachment means to be connected to a piece of diver's equipment that has a substantially fixed position relative to the torso. This can be, in particular, at least one diving cylinder, a pressure tube, a jacket such as a buoyancy compensator, a belt such as a cylinder waist belt, a plate carrier, or a wetsuit in the torso area.

[0025] For the purposes of the invention, "for attachment to the hull" means that the position sensor is either attached directly to the hull or indirectly to an item of equipment that is firmly connected to the diver's hull.

[0026] The torso refers to the diver's body without limbs, such as legs, arms, or head. The torso essentially defines the diver's position. While the limbs have a certain degree of freedom of movement relative to the torso, the torso has very limited rotation or flexion capabilities. Furthermore, during diving, the torso remains straight, untwisted, and unbent in the vast majority of situations. Attaching it to the torso allows the diver's longitudinal axis to be determined with high accuracy.

[0027] The fixed position relative to the torso should be maintained during the intended use of the dive computer and / or the equipment during the dive.

[0028] In this sense, it may be provided that the fastening means, when fastened, is firmly connected to at least one piece of equipment that is firmly attached to the diver's torso.

[0029] An advantage of a dive computer according to the invention can be seen in particular in the fact that it can directly determine the position of the body axis and is therefore advantageous for the diver as he has his hands free for other activities.

[0030] The coordinate system of the diver or diving cylinder is defined as follows for the following considerations: the X-axis is axial to the cylinder and points towards the diver's head. If the diver is in a horizontal position looking downwards, the Y-axis points to the right and the Z-axis points downwards. Using an acceleration sensor, the Earth's gravity vector can then be measured and used to calculate pitch and roll angles. For a diver who carries his diving cylinders on his back, it is usually assumed that the cylinders are parallel to the XY plane of the torso. If you can determine the position of the cylinders, you also know the diver's position.

[0031] It is preferably provided that the position sensor comprises at least one, preferably at least three acceleration sensors aligned at right angles to one another.

[0032] Using a 2- or 3-axis accelerometer, the diver's position relative to the horizontal can be determined. If the axes of the accelerometer's coordinate system are parallel to the diver's, the pitch and roll angles can be easily calculated. Literature on this topic is available, for example, from the manufacturers of such sensors.

[0033] Preferably, the position sensor comprises at least one, preferably at least three, gyroscopes aligned at right angles to each other. This allows for further increased accuracy.

[0034] It is preferably provided that the position sensor comprises at least one, preferably at least three magnetometers aligned at right angles to one another.

[0035] With an additional 3-axis magnetometer, the vector of the Earth's magnetic field can also be determined. Calculations are known from the literature on how to calculate the tilt-compensated compass heading from the two measurements of the 3-axis accelerometer and the 3-axis magnetometer.

[0036] In one design, the dive computer is designed to be attached to the hull in a defined orientation. This allows the coordinate systems of the dive computer and the diver to be aligned, i.e., the diver's X-axis is parallel to and points in the same direction as the dive computer's X-axis, the diver's Y-axis is parallel to and points in the same direction as the dive computer's Y-axis, and the diver's Z-axis is parallel to and points in the same direction as the dive computer's Z-axis.

[0037] Preferably, the position sensor is configured to assume a substantially fixed position relative to at least one of the diver's diving cylinders when fastened by the fastening means, and is preferably configured to be connected to at least one diving cylinder and / or at least one part of the diving cylinder that carries gas. Since the diving cylinder generally has a fixed position relative to the diver's torso, this achieves a fixed position of the dive computer relative to the torso. At the same time, a good and secure attachment to the diving cylinder is particularly well possible.

[0038] It is particularly advantageous if the fastening means is designed for attachment to at least one outlet of a diving cylinder or to a part that is directly fluidically connected to at least one outlet of the diving cylinder. This makes it easy to establish a defined alignment. However, designs with any desired alignment are also possible. "Directly fluidically connected" means that no significant pressure change, in particular pressure reduction, occurs between the fastening means and the outlet of the diving cylinder. For example, the fastening means can be designed to be connected to a first stage of a breathing regulator, preferably to the inlet side of the first stage.

[0039] Furthermore, it may be advantageous if the position sensor is configured to be in fluid communication with at least one outlet of a diving cylinder when attached. Thus, at least one parameter of the gas in the diving cylinder can be measured by the position sensor using at least one additional sensor. This parameter can be, for example, the pressure, water content, or at least one parameter related to the gas composition, such as the oxygen content.

[0040] In this sense, it is particularly advantageous if the position sensor comprises at least one pressure sensor for determining the gas pressure in at least one diving cylinder.

[0041] Accordingly, the position sensor can be provided with at least one tank pressure sensor. This is a cost-effective design, since a tank pressure sensor usually already contains the electronic infrastructure such as a microcontroller, battery, and transmitting antenna. Many divers use tank pressure sensors, which measure the tank pressure and then transmit it wirelessly to a dive computer.

[0042] US 5392771 describes a system that transmits tank pressure to a dive computer. US 2018195923 describes a tank pressure transmitter that is also capable of analyzing the oxygen content of the gas in the tank.

[0043] These cylinder pressure sensors are preferably screwed into a pressure reducer, which is screwed onto the cylinder valve. In this position, the cylinder pressure sensor is firmly connected to the diving cylinder, but the position of the cylinder pressure sensor relative to the cylinder is arbitrary, depending on how the pressure reducer is attached.

[0044] In particular, when the dive computer is designed to include at least one pressure sensor such as a tank pressure sensor, it is often the case that the position sensor and the axes of its sensors are mounted in an arbitrary position on the diving device and the coordinate system of the acceleration sensors and the magnetometer are not identical to that of the diver's torso.

[0045] Therefore, the sensor readings must first be rotated into the coordinate system of the diver's torso. Only then can the pitch and roll angles be calculated. This rotation can be calculated using a rotation matrix. To determine the required rotation matrix, the system must be calibrated.

[0046] To do this, the dive computer must be placed in at least two known positions.

[0047] If the position sensor with the acceleration sensors is attached to a diving tank, for example, these two positions could be a first position where the diving tank is parallel to the ground and a second position where the diving tank is standing, meaning gravity is parallel to the longitudinal axis of the diving tank. Ideally, double tanks are used instead of a single tank, as this makes it easier to achieve the first position parallel to the ground in practice. In the first position, a first vector of the gravitational force V1 is determined in the dive computer's coordinate system. In the second position, a second vector of the gravitational force V2 is determined in the dive computer's coordinate system. Using V1 and V2, a vector V3 can be calculated, which is orthogonal to the plane spanned by V1 and V2. V1, V2 and V3 are each normalized to 1.

[0048] In the first position and in the coordinate system of the diver and the tank worn on the back, the acceleration due to gravity acts only in the Z direction, and in the second, only in the X direction. V3 corresponds to that of a diver lying horizontally on his right side—in this case, in the diver's coordinate system, the acceleration due to gravity acts only in the Y direction.

[0049] This results in the following equations: T * V = L

[0050] T is the rotation matrix we are looking for.

[0051] V is the matrix formed from the vectors V1, V2 measured with the acceleration sensors in the coordinate system of the dive computer in the first and second positions and the calculated vector V3. V = V 1 x V 2 x V 3 x V 1 y V 2 y V 3 y V 1 z V 2 z V 3 z

[0052] L corresponds to the acceleration in the coordinate system of the diver in the first, second and the calculated third position. L ist daher: 0 − g 0 0 0 g g 0 0 "g" stands for the acceleration of gravity ~9.81m / s 2<

[0053] T can therefore be calculated as follows: T= E*V -1<

[0054] Using the rotation matrix T calculated in this way, the measured vectors can be rotated from the coordinate system of the position sensor into the coordinate system of the diver and then the roll and pitch angles as well as the compass direction of the diver can be calculated.

[0055] Other calibration methods to the one described above are also conceivable. For example, one position could involve turning the cylinder on its side. It is also conceivable that in the second position, the cylinder is not placed upright but instead carried upright on the diver's back.

[0056] It is also conceivable that only one calibration point is necessary if a two-point calibration has already been carried out and, for example, the position sensor was only mounted at a different angle.

[0057] Since the position sensor is typically not mounted in a location within the diver's field of vision, it is necessary to display the measured data on a separate display, which can be worn on the wrist or mounted directly in front of the eye. The technically simplest design connects the external display to the dive computer via a cable.

[0058] In this sense, the dive computer may have at least one display, and the position sensor may be configured to transmit measured values, preferably wirelessly, to the display. The display is configured to display data relating to the measured data of the position sensor for the diver.

[0059] For the purposes of the invention, a dive computer refers to a device that the diver carries during the dive and that can provide the diver with information that supports the dive. This includes, in particular, information regarding the diver's position based on data from the position sensor.

[0060] The inventive solution enables the position sensor to always accurately determine the diver's position through automatic movement with the diver's torso, regardless of the position of the diver's extremities in relation to the torso. This means that movements of the arms, legs, or head do not interfere with the position determination. It is advantageous for the dive computer to be designed in at least two parts, with the display and position sensor being arranged on different parts. This means that the display can be attached to a suitable location, such as the diving mask or the wrist, and can be moved into a variety of positions as desired by the diver, without affecting the position detection by the position sensor. By "two parts" we mean that the dive computer has at least two essentially independent parts, and that these can be moved essentially independently of one another during operational use during a dive.A connection between the pieces that does not significantly impair their movement is irrelevant. For example, a connection via a cable is irrelevant, since the piece containing the display can be moved along with a limb without any problems, and the piece containing the position sensor remains attached to the torso without interference. However, it is preferable that the piece on which the display is arranged and the piece on which the position sensor is arranged are not connected to each other or separable from each other.

[0061] It can also be provided that the position sensor is designed to transmit measured values ​​to the display, preferably wirelessly.

[0062] It may be provided that the position sensor processes the measured values ​​before transmission, for example, calculates further values ​​from them, and / or that the position sensor transmits the raw data to the dive computer or the display.

[0063] The calculation of the rotation and subsequently the angle and compass direction can be done either in the dive computer itself or in the external display or on the dive computer. It may be more practical to transfer the raw measurement data to the dive computer and then perform the calculations there. Calibration values ​​in the first and second positions can be set using the controls on the display or other parts of the dive computer. For example, a display can be designed with several buttons, with a first button for calibration in the first position and a second for calibration in the second position. In practice, the diver would therefore place their diving apparatus in the first calibration position, i.e. lying on their back, wait for a measurement, and then press the first button. The diver would then place their diving apparatus in an upright position and press the second button.

[0064] As an alternative to individual buttons for these functions, multifunctional buttons can also be used. It is also conceivable that the calibration functions in the first and second positions can be accessed via a menu system in the dive computer.

[0065] However, divers often find cable connections annoying, as they may limit movement, pose a risk of tangling, and are also prone to errors. An alternative way to transmit dive computer data to the display is wireless transmission.

[0066] Transmission methods such as Bluetooth or Wi-Fi are not suitable for underwater applications, as the range at the typical frequency of approximately 2.5 GHz is only a few centimeters. Therefore, it is advantageous if a position sensor is configured to transmit measured values ​​wirelessly via magnetic transmission. Magnetic transmission modulates magnetic fields.

[0067] One embodiment of the invention solves the transmission of data from a dive computer to a display or a dive computer by sending the data wirelessly from the dive computer to the display using a magnetic data transmission and preferably using a frequency of 125 kHz and / or biphase coding for the wireless transmission in order to achieve the shortest possible data packets.

[0068] Ultrasound can also be used as an alternative or in addition to transmission with modulated magnetic fields.

[0069] The position sensor can be used to determine the diver's orientation relative to sea level and / or cardinal directions. At least one position sensor can also be configured to determine the diver's acceleration and / or speed.

[0070] By fixed position, we mean that at least the orientation and preferably also the exact position of the position sensor relative to the diver's torso is fixed. This fixed position can be released by moving the fastening device into a released position, for example while adjusting the position sensor or while putting the position sensor on or taking it off before or after use. The position sensor can also be integrated directly into a diving device, for example. In the case of rebreather diving devices, the integration of the position sensor into the control electronics in the head of the rebreather diving device is particularly suitable. This is usually connected to a display via a cable, so it would be technically simple to also record the diver's position using a position sensor and display this on the screen.

[0071] The invention will now be explained using non-limiting embodiments in the figures. They show: Fig. 1 is a side view of a diver with a dive computer according to the invention in a first embodiment in a mounted state during diving; Fig. 2 is a top view of the diver from Fig. 1 ; Fig. 3a frontal view of the diver from Fig. 1 ; Fig. 4 a side view of a diver with a dive computer according to the invention in a second embodiment in a fastened state during diving; Fig. 5 a top view of the diver from Fig. 4 ; Fig. 6 a detailed view of the diver from Fig. 4 ; Fig. 7 a side view of the double cylinder with the attached position sensor from Fig. 4 in the state removed from the diver, in a first calibration position; Fig. 8 a side view of the double cylinder from Fig. 7 in a second calibration position;

[0072] Fig. 1 shows a side view of a diver 1 in a horizontal position with a double tank 2 worn on the back, fins 3, a diving mask 4, and a display 6 on the wrist, which is part of a dive computer according to the invention. For this purpose, the display 6 is arranged on a piece of the dive computer that is connected to the wrist. The dive computer further comprises a second piece, not connected to the first piece, with a position sensor 7, which is mounted in a fixed position on the body so that the axes of the coordinate system of the position sensor 7 are parallel to those of the diver. The X-coordinate axis 8 of the diver or the diving tanks 2 is parallel to the X-coordinate axis 10 of the position sensor 7. The Z-coordinate axis 9 of the diver or the diving tanks 2 is parallel to the Z-coordinate axis 11 of the position sensor 7. For simplified representation, breathing hoses and regulators are not shown. Furthermore, Fig. 1 An alternative embodiment of a first piece with the dive computer display is also shown, which is mounted directly on the diving mask. This alternative display 5 can be provided in addition to or instead of the display 6. It allows the data to be displayed directly on or in the diving mask 4.

[0073] The position sensor 7 is attached to the belly of the diver 1 in a fixed position relative to the belly and thus to the torso via a fastening element 25 in the form of a belt.

[0074] Fig. 2 shows the top view of the diver 1 in a horizontal position with double cylinder 2, which is worn on the back, fins 3, diving mask 4, the alternative display 5, which is mounted directly on the diving mask, the display 6 on the wrist, and the position sensor 7 for determining the position, which is mounted in a fixed position on the body so that the axes of the coordinate system of the position sensor 7 are parallel to those of the diver. The X-coordinate axis 8 of the diver or the diving cylinders is parallel to the X-coordinate axis 10 of the position sensor 7. The Y-coordinate axis 12 of the diver or the diving cylinders is parallel to the Y-coordinate axis 13 of the position sensor 7. For the sake of simplicity, breathing hoses and regulators are not shown. The compass direction can be calculated using the vector VM 14 of the earth's magnetic field, measured with a magnetometer.

[0075] Fig. 3 shows the front view of the diver 1 in a horizontal position with double cylinder 2, which is worn on the back, fins 3, diving mask 4, the alternative display 5, which is mounted directly on the diving mask, the display 6 on the wrist and the position sensor 7 for determining the position, which is mounted in a fixed position on the body so that the axes of the coordinate system of the position sensor 7 are parallel to those of the diver. The Z coordinate axis 9 of the diver or the diving cylinders is parallel to the Z coordinate axis 11 of the position sensor 7. The Y coordinate axis 12 of the diver or the diving cylinders 2 is parallel to the Y coordinate axis 13 of the position sensor 7. For the sake of simplicity, breathing hoses and regulators are not shown.

[0076] Fig. 4 shows a side view of a diver 1 in a horizontal position with a double tank 2 worn on the back, fins 3, a diving mask 4, an alternative display 5 mounted directly on the diving mask, a display 6 on the wrist, and the position sensor 7 for determining the position of a dive computer of a second embodiment, wherein the position sensor 7 is fixedly connected to a diving tank of the double tank 2. For this purpose, a fastening device of the position sensor 7 has a thread for connection to an outlet of at least one diving tank. The diving tanks can be fluidly connected via a connecting valve. The position sensor 7 has a tank pressure sensor 15, which is mounted on a pressure reducer and screwed into the valve connection of the diving tank. The X-coordinate axis 8 of the diver 1 or the diving tanks 2 is in this case usually not parallel to the X-coordinate axis 10 of the dive computer 7.In this case, the Y-coordinate axis 12 of diver 1 or diving cylinders 2 is not parallel to the Y-coordinate axis 13 of position sensor 7. Likewise, the Z-coordinate axis 9 of diver 1 or diving cylinders 2 is not parallel to the Z-coordinate axis 11 of position sensor 7. For simplicity, breathing hoses and regulators are not shown. In this case, the axes of the coordinate system of the position sensor and the integrated sensors are usually not parallel to the axes of the coordinate system of diver 1 or cylinders 2. Therefore, calibration of the system is necessary in this case. Fig. 5 shows diver 1 in a top view. Fig. 6 shows a detailed side view of the diver 1. The cylinder pressure sensor 15 is mounted on an outlet in the form of a pressure reducer 16, which is screwed into the valve connection 17 of the diving cylinder.

[0077] Fig. 7 shows the double bottle 2 together with attached elements such as the position sensor from the Figuren 3 - 5 in a position for calibrating the system. The double cylinder 2 is placed horizontally on the floor 18 so that the strap 19 used by the diver to support the cylinder points upward. In this position, gravity acts only on the Z-axis of the coordinate system 9 of the diving cylinder. During calibration, the gravity vector V1 20 is measured in the coordinate system of the position sensor 7.

[0078] Fig. 8 shows a second position for calibrating the system. The double cylinder 2 is positioned. In this position, gravity acts only on the X-axis 8 of the coordinate system of the diving cylinder 2. During calibration, the gravity vector V2 21 is measured in the coordinate system of the position sensor 7.

Claims

1. Diving computer for divers (2) for determining the position of the diver (2) with at least one position sensor (7) and at least one display (6) for displaying the position determined by the position sensor (7) for the diver, characterized in that the position sensor (7) has at least one fastening means (25) for fastening to the torso of the diver (2) and that the position sensor (7) is designed to assume a substantially fixed position relative to the torso of the diver (2) in the fastened state by the fastening means (25) and that the dive computer is designed in at least two pieces and the display and position sensor are arranged on different pieces.

2. Dive computer according to claim 1, characterized in that the position sensor (7) is designed to transmit measured values, preferably wirelessly, to the display (6).

3. Diving computer according to one of the preceding claims, characterized in thatthe position sensor (7) comprises at least one, preferably at least three acceleration sensors aligned at right angles to one another.

4. Diving computer according to one of the preceding claims, characterized in that the position sensor (7) comprises at least one, preferably at least three gyroscopes aligned at right angles to one another.

5. Diving computer according to one of the preceding claims, characterized in that the position sensor (7) comprises at least one, preferably at least three magnetometers aligned at right angles to one another.

6. Diving computer according to one of the preceding claims, characterized in that the position sensor (7) is designed to transmit measured values wirelessly by means of a magnetic transmission.

7. Diving computer according to one of the preceding claims, characterized in that the position sensor (7) is designed to transmit measured values wirelessly by means of ultrasound.

8. Diving computer according to one of the preceding claims, characterized in that the position sensor (7) is designed to assume a substantially fixed position relative to at least one diving cylinder (2) of the diver (1) in the fastened state by the fastening means (25) and is preferably designed to be connected to at least one diving cylinder (2) and / or at least one part carrying gas of the diving cylinder (2).

9. Diving computer according to one of the preceding claims, characterized in that the fastening means (25) is designed for fastening to at least one outlet of a diving cylinder (2) or to a part which is directly fluidically connected to at least one outlet of the diving cylinder.

10. Diving computer according to one of the preceding claims, characterized in that the position sensor (7) is designed to be in flow connection with at least one outlet of a diving bottle (2) when attached.

11. Diving computer according to one of the preceding claims, characterized in that the position sensor (7) comprises at least one pressure sensor for determining the gas pressure in at least one diving cylinder (2).

12. Method for calibrating a dive computer according to one of the preceding claims, characterized in that the dive computer is calibrated in at least one known position.

13. Method according to claim 12, characterized in that the calibration comprises measuring at least one, preferably at least two, acceleration vectors by at least one acceleration sensor of the position sensor (7) in at least one, preferably at least two positional positions, and determining a rotation matrix from the at least one acceleration vector in the at least one positional position.

14. A method for carrying out a dive, wherein a diver (2) fastens a position sensor (7) of a dive computer to the torso of the diver (2) with at least one fastening means (25) such that the position sensor (7) assumes a substantially fixed position relative to the torso of the diver (2) due to the fastening means (25), wherein the position sensor (7) determines the position of the diver (2) and transmits data relating to this determined position to a display (6), and wherein the display (6) shows the diver (2) information based on the transmitted data.

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