Navigation and Handling Systems for Marine Robotics
Abstract
The research field of teaming manned and autonomous unmanned systems cooperating at depth addresses basic and applied science problems in the fields of seabed geology, ocean physics, autonomy, and ocean engineering; and ultimately will better enable naval undersea find, fix, finish, analyze and disseminate (F3EAD) intelligence cycles. We propose to procure a suite of equipment that will provide for accurate seabed navigation of deployed robotic assets, provide for safe and rapid launch and recoveries in challenging sea states, and provide for high resolution imaging of the seafloor. The equipment consists of an integrated navigation system to allow for the broadcast of precise navigation solutions to both unmanned underwater vehicles (UUVs) and remotely operated vehicles (ROVs). Comprised of a surface deployed ultra-short baseline (USBL) navigation system integrated with a GPS inertial navigation system, the system will both determine locations of seabed survey assets equipped with anacoustic beacon, and communicate that information to thedeployed asset. We will also procure a tether management system (TMS) to extend the range of a recently procured Saab Remotely Operated Vehicle (Saab Cougar) to a depth of 2000 m. The extended range capability of the ROV will align it with a broader set of emerging deepwater science questions and provide capability to team with deeper rated UUVs. The system will also include an integrated launch and recovery system (LARS) that will provide for safe, all-weather launch and recoveries of the ROV. A UUV-based optical imagingsystem will support seabed projects and advance our interpretation of seabed sidescan surveys. Data from the system will support structure-from-motion data analysis to provide high resolution local navigation solutions, as well as the development of digital elevation models at cm scales through use of parallel processed photogrammetric image reconstruction. The equipment will support our thrusts of conducting naval-relevant basic science research in the fields of autonomy, maritime sensing, and unmanned systems.This abstract is publicly releasable.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- May 15, 2023
- Source ID
- N000142312515
Entities
People
- Eric Terrill
Organizations
- Office of Naval Research
- United States Navy
- University of California, San Diego