Using the ST725 Sonar For AUV Feature Based Navigation and Correction
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Authors
Marr, W.J.
Healey, A.J.
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Date of Issue
1998
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Abstract
This paper reports on a previous experimental
investigation of the Tritech ST725 high resolution sonar
system used onboard the NPS Phoenix and a possible
extension of the results to an underwater feature based
navigation and correction system. The ST725 sonar
was used in progressively complex static environments
to clearly image objects. Scanline analysis of the
ST72.5 data was conducted and shown to be useful in
extracting stationary target information on vertically
oriented mine-like objects as well as a small sphere.
Raw scanline processing using a “gating and
thresholding” method was used to determine range,
bearing, and approximate size/orientation.
Additionally, by capturing the range of the first return,
the sonar was shown to be capable of emulating a
“profiling” sonar. Future synthesis of known
underwater features with range and bearing information
and scanline analysis may provide the underwater
vehicle systems designer with an alternate method of
navigation. The value of this topic in the advancement
of understanding underwater technology is that actual
experimental data were used and useful results were
obtained .
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Article
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Mechanical Engineering
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This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.