Patent ID: 9335172
Filing Date: 2016-05-10
CPC Classification: B63B,B63C,G01C

Claim Text:
1. An apparatus for measuring a location of an underwater vehicle directly attached on a hull surface of a vessel to examine the hull surface, comprising: a hull information generating unit dividing the hull surface of the vessel into a plurality of surfaces, and generating normal vector information of each surface, including a normal vector perpendicular to each surface, and level information which is information for a depth that each surface is submerged into water, the hull information generating unit comprising a database storing the normal vector information of each surface and a level information generating module extracting the level information of each surface; sensors for generating attitude information and depth information of the underwater vehicle directly attached on the hull surface; a vehicle information receiving unit receiving the attitude information and the depth information of the underwater vehicle from the sensors; and a location determining unit accessing the database, comparing the attitude information of the underwater vehicle with the normal vector information of the plurality of surfaces stored in the database, and comparing the depth information of the underwater vehicle with the level information of the plurality of surfaces to determine a location of the underwater vehicle, the location determining unit selecting a surface among the plurality of surfaces of the vessel where the attitude information of the underwater vehicle corresponds to the normal vector information of the surface of the vessel, and the depth information of the underwater vehicle corresponds to the level information of the surface of the vessel to determine the location of the underwater vehicle on the hull surface.