1 / 2

Multi-Sonar Survey Controller

Multi-Sonar Factsheet Ver. 1.0 3 Oct 2008. Multi-Sonar Survey Controller. Overview Embedded Software Controller offering centralised ping control of multi-beam with other sonar devices operating within the same frequency range.

apria
Télécharger la présentation

Multi-Sonar Survey Controller

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. Multi-SonarFactsheetVer. 1.0 3 Oct 2008 Multi-Sonar Survey Controller • Overview • Embedded Software Controller offering centralised ping control of multi-beam with other sonar devices operating within the same frequency range. • A novel1 method interleaves the transmission-reception cycle of each sonar device in real-time to eliminate sensor crosstalk. • Determines optimal vehicle velocity and ping rate to achieve optimal ground coverage. Swath overlap adjusted by raising multibeam relative to SSS on front of ROV. • Customer Benefits • Reduced survey time and cost as data from all sonar devices is acquired simultaneously in a single pass. • Collection of supporting environmental data only required once. E.g. Water column SVP. • Co-registration of features minimises navigation uncertainties & dataset ambiguities. • On the fly generation of the Digital Terrain Model allows swath survey coverage to be optimised and enables auto-heading velocity control of vehicle for the survey. • Makes sidescan sonar slant range & sediment angular response correction possible. • Especially suitable for shallow water ship based operations or alternatively ROV/AUV operations flown close to the seabed. 1 PCT Patent Pending Mobile & Marine Robotics Research Centre, University of Limerick, Limerick, Ireland Dr Daniel Toal Director +353 (0) 61 202264daniel.toal@ul.ie Mr Simon Marr Marketing +353 (0) 61 213498simon.marr@ul.ie

  2. Typical Setup • MBES: Multibeam Echo Sounder data & control • SSS: Sidescan Sonar data and control • INS: Inertial Navigation System providing positioning and orientation data • Display: Swath coverage / MBES & SSS data display, system status • Surveyor Control: Desired resolution/survey specification • Pilot Control: Navigation changes to optimise coverage and performance. • Software Execution Model • Prioritised multi-threaded architecture used to achieve real-time performance. • Beam data fused with position and orientation data to generate new geo-referenced bathymetry data points . • Sonar trigger intervals and platform state recalculated from Digital Terrain Model. • Proving the Concept • Prototype implemented in C++. OpenMesh used for building the Digital Terrain Model using polygonal meshes. Separate adaptors are written for each connected device. • First release to undergo laboratory testing with the Reson 7125 Multibeam and the TritechSidescanSonars. Sea trials to follow as part of the ROVLATISpayload in Spring 2009. • Mission Support Toolkit also includes: • MPPT Ring • PULSE-RT • Learn more about the Multi-Sonar or our other Mission Support Tools by joining our new ROVLATIS mailing list or follow progress at www.rovlatis.ie Mobile & Marine Robotics Research Centre, University of Limerick, Limerick, Ireland Dr Daniel Toal Director +353 (0) 61 202264daniel.toal@ul.ie Mr Simon Marr Marketing +353 (0) 61 213498simon.marr@ul.ie

More Related