Experiments with the REMUS AUV

Abstract

This thesis centers around actual field operations and post-mission analysis of data acquired using a REMUS AUV operated by the Naval Postgraduate School Center for Autonomous Underwater Vehicle Research. It was one of many platforms that were utilized for data collection during AOSN II, (Autonomous Oceanographic Sampling Network II), an ONR sponsored exercise for dynamic oceanographic data taking and model based analysis using adaptive sampling. The vehicle's ability to collect oceanographic data consisting of conductivity, temperature, and salinity during this experiment is assessed and problem areas investigated. Of particular interest are the temperature and salinity profiles measured fromlong transect runs of 18 Km. length into the southern parts of Monterey Bay. Experimentation with the REMUS as a mine detection asset was also performed. The design and development of the mine hunting experiment is discussed as well as its results and their analysis. Of particular interest in this portion of the work is the issue relating to repeatability and precision of contact localization, obtained from vehicle position and sidescan sonar measurements.