19 June 2001



B. Bourgeois     M. Harris
Naval Research Laboratory
Stennis Space Center, MS 39529-5004
P. Alleman     J. Cheramie     J. Gravley
C&C Technologies, Inc.
Lafayette, LA



This paper discusses an initial implementation of sensor performance based survey control using a multibeam bathymetric system. The goal of this work is the automation of survey navigation and sensor control utilizing actual vice predicted response of the survey system. The implementation of the techniques discussed in this paper utilized the Naval Research Laboratory's ORCA vessel, a semi-autonomous air-breathing submersible vessel. The approaches attempted are discussed and results from the first at-sea test of these techniques are presented. During the at-sea test data from the multibeam bathymetry system was processed and gridded in real-time, and this data utilized to generate the next navigation trackline for the defined survey area. Sensor performance based control, even with a relatively simple implementation, was seen to compensate extremely well for actual data coverage.

Sponsored by the Oceanographer of the Navy.
Presented at the 10th International Symposium on Unmanned Untethered Submersible Technology, Durham, NH, September 7-10, 1997.
Naval Research Laboratory Contribution Number NRL/PP/7442 97-0016.
Conference Proceedings