Multibeam Sonar-Based Navigation of Small UUVs for MCM Purposes

Abstract

AbstractAutonomous vehicles (AxV), surface (ASV) and underwater (AUV), are being considered for the following maritime security missions: Mine Countermeasures (MCM) and Harbor Protection (HP). Applicable threats include attack swimmers/divers, bottom and moored mines, mines or improvised explosive devices placed on pilings, quays, or hulls of ships at anchor or in port. This article focuses on solutions for mine reacquisition and neutralization (RN). One concept for an overall RN system is two collaborating vehicles, an AxV and a unmanned underwater vehicle (UUV). The main task of the RN AxV is to reacquire a bottom target with multibeam imaging sonar, maintain distance while pointing at the target, and perform circular inspection around a target while varying the circle diameter. The main task of the RN UUV is to converge towards the desired line once deployed from the AxV. UUV guiding is accomplished by automatically processing sonar imagery onboard of the AxV and passing sonar position, and UUV range and bearing information to the UUV which processes this information to drive itself to the desired location.