Forward looking sonar applications for unmanned vehicles

Abstract

Unmanned vehicles have the potential to greatly expand our ability to observe dynamic ocean environments. Whereas distributed acoustic sensors can monitor discrete measurement points in time and space, autonomous maritime platforms provide increased flexibility. Acoustic principles are a key component of this functionality and forward looking sonar (FLS) systems can acquire acoustically derived data products while enabling better informed autonomy behaviors based on enhanced situational and environmental awareness. This paper explores applications of forward look sonar technology when integrated with underwater vehicles. Utility of both interferometric and two-dimensional acoustic data products are examined to illustrate the impact on technologies associated with navigational drift mitigation and ocean observation. Results from sonar platform integration and in-water acquisition for development of an underwater terrain-aided navigation (UTAN) particle filter, an acoustic enabled simultaneous localization and mapping (SLAM) algorithm, obstacle avoidance techniques, and seabed observations are presented.