Acoustic-IMU Tank Navigation for Accurate Indoor Positioning
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Solution Overview
Problem
Conventional systems for inspecting and maintaining storage tanks face challenges such as inaccurate positioning due to the absence of GPS and magnetic fields, sensitivity to temperature variations, and the need for lengthy and cumbersome mapping processes.
Innovation Solution
A system comprising a vehicle equipped with sensors and a navigation system that includes an acoustic transmitter, an inertial measurement unit (IMU), and a propulsion unit, allowing the vehicle to move in concentric arcs within the tank and determine its location with high accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional sonar systems are used for positioning, then the vehicle can be located within the tank, but the positioning accuracy is insufficient due to temperature variations and the need for lengthy mapping processes
Solution Approach 1:
The system performs preliminary calibration by moving the vehicle along a known path (e.g., concentric arcs) to establish reference measurements before actual inspection. This preliminary action creates a baseline that compensates for temperature variations and system drift, enabling faster and more accurate positioning during operational inspections without repeating the full mapping process.
Solution Approach 2:
The system continuously compares actual sonar measurements against the pre-established reference map and uses feedback algorithms to correct positioning errors in real-time. This feedback mechanism compensates for temperature-induced drift and maintains high positioning accuracy throughout the inspection without requiring repeated full-mapping operations.
2Measurement precision
If GPS and magnetic fields are used for navigation, then positioning can be achieved, but these systems are unavailable inside storage tanks
Solution Approach 1:
The system uses acoustic signals as an intermediary medium for positioning, replacing GPS and magnetic field-based systems. Acoustic waves propagate effectively through the liquid medium inside tanks, serving as a suitable intermediary that adapts to the confined environment where traditional navigation systems fail.
Solution Approach 2:
The patent replaces electronic/GPS-based positioning systems with acoustic-based positioning. This substitution uses sound wave propagation and timing measurements instead of satellite signals or magnetic field sensing, making the system adaptable to the tank environment where GPS and magnetic compasses are ineffective.
3Measurement precision
If detailed mapping of tank floors is performed, then accurate inspection data can be obtained, but the process becomes lengthy and cumbersome
Solution Approach 1:
The system performs detailed mapping once as a preliminary action to create a high-resolution reference model of the tank floor. This reference map is then reused for multiple inspections, allowing subsequent measurements to be quickly compared against the established baseline without repeating the time-consuming full mapping process, thereby maintaining accuracy while improving productivity.
Solution Approach 2:
The system creates a digital copy or replica of the tank floor geometry and features through initial detailed mapping. This virtual model serves as a reference that can be repeatedly used for comparison with new inspection data, eliminating the need to physically remap the entire floor for each inspection and significantly improving inspection efficiency while maintaining measurement precision.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system achieves accurate and efficient mapping of storage tank floors, reducing the time and cost associated with conventional methods while providing reliable measurements of tank wall and floor thickness.
Implementation Method 1
an acoustic transmitter carried by the vehicle... The vehicle moves inside the storage tank in concentric arcs with respect to the acoustic receiver
Implementation Method 2
an inertial measurement unit (IMU) sensor configured to at least partially determine a location of the vehicle with respect to the storage tank
Data Source
AI summary
Indoors positioning and navigation systems and methods are described herein. In one embodiment, a system for inspecting or maintaining a storage tank includes a vehicle having: at least one sensor for determining properties of a storage tank and a navigation system. The navigation system includes an acoustic transmitter carried by the vehicle and an inertial measurement unit (IMU) sensor configured to at least partially determine a location of the vehicle with respect to the storage tank. The vehicle also includes a propulsion unit configured to move the vehicle within the storage tank, and an acoustic receiver fixed with respect to the storage tank. The vehicle moves inside the storage tank in concentric arcs with respect to the acoustic receiver.