Patent Document ID: 8086408
Application ID: 13113959
Patent Status: 1

Claim One:
1. A computer implemented method for determining projected coordinates in a projected coordinate system for at least one node on a wire having a plurality of nodes, the computer implemented method comprising: a. securing two separated tow lines to a floating vessel, wherein each tow line has a diverter; b. deploying the wire between the two separated tow lines; c. installing at least a pair of first in-water sensors on the wire for determining the projected coordinates for a positioning on the wire, wherein each first in-water sensor is: (i) embedded in the wire; (ii) positioned adjacent or on one of the plurality of nodes on the wire; (iii) proximate to the wire; (iv) on a buoy towed from the wire; or (v) combinations thereof; d. using the pair of first in-water sensors to transmit first sensor information to a processor in communication with a data storage; e. using the processor and the first sensor information to determine the projected coordinates for the position on the wire; f. installing at least a pair of second in-water sensors on the wire, wherein each second in-water sensor is: (i) embedded in the wire; (ii) attached to the wire; or (iii) combinations thereof; g. using the second in-water sensors to transmit second sensor information to the processor; h. using the processor, the second sensor information, and an algorithm for computing azimuths to compute a first azimuth tangential to the wire for each second in-water sensor; i. loading a library of nominal values for third, fourth, or fifth order polynomial coefficients, a library of known distances along the wire, and a library of preset limits into the data storage, wherein the library of known distances along the wire comprises: (i) distances to each first in-water sensor; (ii) distances to each second in-water sensor; (iii) distances to each of the plurality of nodes; (iv) distances to a location along the wire; or (v) combinations thereof; j. using the projected coordinates from the first in-water sensors and a bearing equation to compute a bearing between the first in-water sensors; k. using the bearing, the first sensor information, the second sensor information, and a first rotation algorithm to reorient the projected coordinates of the first in-water sensors to local x-y coordinates, forming a local x-y coordinate system; l. using a second rotation algorithm and the bearing to rotate the azimuths tangential to the wire from the second in-water sensors to reoriented azimuths tangential to the wire into the local x-y coordinate system; m. using the processor to construct a third, fourth, or fifth order polynomial algorithm of the wire in using: (i) nominal values from the library of nominal values for the third, fourth, or fifth order polynomial coefficients; (ii) the local x-y coordinates of the first in-water sensors; and (iii) at least one distance along the wire from the library of known distances along the wire; n. using the processor to compute a second azimuth tangential to the wire at each second in-water sensor using the third, fourth, or fifth order polynomial algorithm; o. using the processor to compute a difference between the computed second azimuths tangential to the wire with the reoriented azimuths tangential to the wire, thereby forming a residual; p. updating the library of nominal values for third, fourth, or fifth order polynomial coefficients by using the processor to perform a least squares technique using the residual; q. constructing an updated third, fourth, or fifth order polynomial algorithm of the wire using the processor, wherein the processor uses: (i) updated nominal values from the library of nominal values for third, fourth, or fifth order polynomial coefficients; (ii) the local x-y coordinates of the first in-water sensors; and (iii) at least one distance along the wire from the library of known distances along the wire; r. using the processor to compute an updated azimuth tangential to the wire at each second in-water sensor; s. using the processor to compute an updated difference between the computed second azimuths tangential to the wire with the reoriented azimuths tangential to the wire until the residual is within a preset limit of the library of preset limits; t. using the processor to calculate a pair of local x-y coordinates for at least one of the plurality of nodes on the wire; and u. using the processor, the bearing, and a third rotation algorithm to rotate the pair of local x-y coordinates from the local x-y coordinate system to the projected x-y coordinate system.