Side scan sonar grid map for Unmanned Underwater Vehicle navigation

Unmanned Underwater Vehicles (UUVs) are popular tools nowadays in marine exploration and oceanographic research. How to navigate an UUV in unknown or unstructured environments without long baseline or short baseline information are always a challenging problem. Side Scan Sonar (SSS) are common paylo...

Full description

Saved in:
Bibliographic Details
Published inOCEANS'11 MTS/IEEE KONA pp. 1 - 8
Main Authors Chen, E., Sheng-Wei Huang, Wei-Han Wang, Jen-Hwa Guo
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.09.2011
Subjects
Feature extraction
occupancy grid
Real time systems
Side Scan Sonar
Sonar
Sonar navigation
target detection
uncertainties
Uncertainty
underwater navigation
UUV
Vehicles
Online AccessGet full text

Cover

More Information
Summary:Unmanned Underwater Vehicles (UUVs) are popular tools nowadays in marine exploration and oceanographic research. How to navigate an UUV in unknown or unstructured environments without long baseline or short baseline information are always a challenging problem. Side Scan Sonar (SSS) are common payloads on UUVs for navigation and environment detection. This study proposes a real time SSS seafloor mapping method combining the motion information and the observation model of the sonar to localize the UUVs. The working principle of SSS, sonar footprint region calculation and the acoustic velocity in water are considered during the feature localization procedure. An occupancy grid mapping algorithm is then used to map the seafloor combining the uncertainties of UUV's motion and measurement errors from the real time observations. Scanlines' information instead of the SSS images during the landmarks' position detection process was implemented on an UUV and experimental results conducted in a sandy seabed with concrete targets are demonstrated.
ISBN:1457714272
9781457714276
ISSN:0197-7385
DOI:10.23919/OCEANS.2011.6107035