Transcript 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.
Swath overlap adjusted by
raising multibeam relative to
SSS on front of ROV.
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.
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 202264
[email protected]
Mr Simon Marr
Marketing
+353 (0) 61 213498
[email protected]
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 georeferenced 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
Tritech Sidescan Sonars. Sea trials to follow as part of the ROVLATIS payload 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 202264
[email protected]
Mr Simon Marr
Marketing
+353 (0) 61 213498
[email protected]