Using the ST1000/ST725 sonars on the NPS AUV II
Marr, William J.
Healey, Anthony J.
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Autonomous Underwater Vehicles (AUVS) require further technological development in several key areas (including sensor systems) in order to assume a broader role in undersea military and commercial environments. This research was an experimental investigation of the TRITECH ST1000 and ST725 high resolution sonar systems used onboard the NPS AUV II. Test conducted with the ST1000 Profiler proved that the sonar could successfully be used in AUV positioning maneuvers but also revealed the requirement for some form of range dependent gain adjustment to ensure vehicle stability. The ST725 sonar was used in progressively complex static environments to clearly image objects. A scanline analysis of the ST725 data was shown to be useful in extracting stationary target information including range, bearing, and approximate size. AUV, Autonomous underwater vehicles, Sonars
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