engleski

Sonar Tracking of a Small UUV

Small Unmanned Underwater Vehicles (UUV) are widespread in research due to their compactness and price. UUVs often come with a sensor suite, compass and pressure sensor, not suited for precise navigation. Automatic guidance of such vehicles is therefore not achievable due to the lack of positional awarness. Acoustic positioning systems improve positional awareness and allow for automatic guidance. However, easily deployable systems like a USBL offer refresh rates of 0.5-1 Hz and their performance quickly degrades in shallow water. The paper describes utilization of an imaging sonar for UUV tracking and position calculation. This approach offers increased accuracy and refresh rate in shallow water applications. Tracking is achieved by sonar image processing and classification of returned reflections.

sonar ; image processing ; UUV ; acoustic positioning ; navigation ; remote guidance

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