Autonomous Bathymetric Surveying

Abstract

This paper discusses an initial implementation of sensor performance based survey control using a multi-beam bathymetric system. The goal of this work is the automation of survey navigation and sensor control utilizing actual vice predicted response of the survey system. The implementation of the techniques discussed in this paper utilized the Naval Research Laboratory's ORCA vessel, a semiautonomous air breathing submersible vessel. The approaches attempted are discussed and results from the first at sea test of these techniques are presented. During the at sea test data from the multi-beam bathymetry system was processed and griddle in real-time, and this data was then utilized to generate the next navigation track-line for the defined survey area. Sensor performance based control, even with a relatively simple implementation, was seen to compensate extremely well for actual data coverage.

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Document Details

Document Type
Technical Report
Publication Date
Sep 01, 1997
Accession Number
ADA337432

Entities

People

  • Brian S. Bourgeois
  • Jaml Cheramie
  • John Gravley
  • Matthew W. Harris
  • Pete Alleman

Organizations

  • United States Naval Research Laboratory

Tags

Communities of Interest

  • Energy and Power Technologies
  • Ground and Sea Platforms
  • Materials and Manufacturing Processes
  • Sensors

DTIC Thesaurus Topics

  • Air Breathing
  • Algorithms
  • Automation
  • Autonomous Systems
  • Autonomous Vehicles
  • Bathymetry
  • Costs
  • Data Processing
  • Demographic Cohorts
  • Earth Sciences
  • Geographic Regions
  • Leading Edges
  • Military Research
  • Navigation
  • Submersibles
  • Unmanned Maritime Systems
  • Vehicles

Readers

  • Materials Science
  • Oceanography.
  • Robotics and Automation.