USS MONITOR Survey: 3-D Sonar and Navigation Processing

Abstract

As part of the 1987 expedition to the USS Monitor wreck site, conducted by the National Oceanographic and Atmospheric Administration and the U.S. Navy, the Deep Submergence Laboratory undertook a three-dimensional sonar survey of the sunken ship. A downward-looking, mechanically-scanned profiling sonar (Mesotech 971) was mounted on the Navy's Deep Drone ROV, which was fitted with a good quality attitude measurement package. A real-time processor collected data from the sonar, from an external long-baseline system, and from the attitude package. While on site, the measurements were filtered and merged to from a composite depth map of the survey area. Later postprocessing of the survey data was undertaken of a research basis, as part of a program for developing real-time survey techniques. A discrete, steady-state Kalman filter was used to estimate position and attitude for real-time processing. Through smoothing can produce better results, all post-cruise modeling used the same technique to simulate real-time performance.

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Document Details

Document Type
Technical Report
Publication Date
Aug 31, 1990
Accession Number
ADA236403

Entities

People

  • Stephen R. Gregg
  • W. K. Stewart

Organizations

  • Woods Hole Oceanographic Institution

Tags

Communities of Interest

  • Ground and Sea Platforms
  • Materials and Manufacturing Processes
  • Sensors

DTIC Thesaurus Topics

  • Accuracy
  • Acquisition
  • Algorithms
  • Catalogs
  • Coordinate Systems
  • Data Acquisition
  • Data Sets
  • Digital Data
  • Kalman Filters
  • Measurement
  • Military Research
  • Navigation
  • Probability
  • Remotely Piloted Vehicles
  • Seabed
  • Three Dimensional
  • Two Dimensional

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Oceanography.

Technology Areas

  • Autonomy