Compact Quantum Magnetometer System on an Agile Underwater Glider

Brian R. Page,Elizabeth L. Foley,David H. Newby,Nina Mahmoudian,Reeve Lambert,Thomas W. Kornack

doi:10.3390/s21041092

Brian R. Page, Elizabeth L. Foley + Show 4 more

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https://doi.org/10.3390/s21041092

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Abstract

This paper presents results from the integration of a compact quantum magnetometer system and an agile underwater glider for magnetic survey. A highly maneuverable underwater glider, ROUGHIE, was customized to carry an increased payload and reduce the vehicle’s magnetic signature. A sensor suite composed of a vector and scalar magnetometer was mounted in an external boom at the rear of the vehicle. The combined system was deployed in a constrained pool environment to detect seeded magnetic targets and create a magnetic map of the test area. Presented is a systematic magnetic disturbance reduction process, test procedure for anomaly mapping, and results from constrained operation featuring underwater motion capture system for ground truth localization. Validation in the noisy and constrained pool environment creates a trajectory towards affordable littoral magnetic anomaly mapping infrastructure. Such a marine sensor technology will be capable of extended operation in challenging areas while providing high-resolution, timely magnetic data to operators for automated detection and classification of marine objects.

Highlights

Underwater magnetic surveys have a long and rich history [1]
This paper builds upon existing work on underwater gliders, underwater motion capture, and marine magnetometry
Underwater gliders are a class of Autonomous Underwater Vehicles (AUVs) that provide both compact size and exceptional endurance, and recent developments have made cost-effective prototypes available for development [13]

Summary

Introduction

Underwater magnetic surveys are typically conducted by moving a magnetometer or gradiometer through water along a series of parallel straight-line tracks within an area of interest. Past efforts at marine magnetic survey have been hindered by the size and power consumption of available magnetometers. The endurance of underwater gliders is measured in weeks compared to hours or days for conventional AUVs. Underwater gliders are suited for magnetometry, because they spend significant operational time with no motors operating. Underwater gliders are suited for magnetometry, because they spend significant operational time with no motors operating Due to their relatively quiet and gentle operation, gliders have been used for sensitive acoustic measurements in biology and climate studies [14,15]

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