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A method for the interpretation of sonar data recorded during autonomous underwater vehicle missions

Zieja Mariusz, Wawrzyński Wojciech, Tomaszewska Justyna, Sigiel Norbert

Polish Maritime Research

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2022

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nr 3

176--186

EN

Image acquisition from autonomous underwater vehicles (AUVs) is useful for mapping objects on the seabed. However, there are few studies on the interpretation of data collected with side-scan sonar during autonomous underwater vehicle missions. By recording the seabed with 3D multibeam sonar, a large number of survey points can be obtained. The collected data are processed using applications based on remote sensing image processing. The data collected during AUV missions (or other sonar carriers) needs to be pre-processed to reach the proper effectiveness level. This process includes corrections of signal amplification (Time Varying Gain, or TVG) and geometric distortions of sonar images (Slant Range Corrections). It should be mentioned that, when carrying out the interpretation process for structures on the sea floor, sonar users need to understand the process of visualising seabed projections and depressions, as well as the resolution limitations of the sonar sensors.

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Optimization of autonomous underwater vehicle mission planning process

Wawrzyński Wojciech, Zieja Mariusz, Żokowski Mariusz, Sigiel Norbert

Bulletin of the Polish Academy of Sciences. Technical Sciences

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2022

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Vol. 70, nr 2

art. no. e140371

EN

This article presents the information concerning aspects of the autonomous underwater vehicle (AUV) mission planning process, emphasizing maritime security monitoring and surveillance, and using side-looking sonars as a primary data source. The paper describes characteristic mission plan phases and gives suggestions for the operators, mainly concerning the safety and effectiveness of the AUV mission. The article describes the coverage path planning algorithm, which could be used to create an effective AUV mission plan, considering AUV manoeuvrability, sonar characteristics, and environmental factors. The results of the algorithms have been verified during the real mission of the AUV vehicle.

3

Methods of autonomous underwater vehicles positioning

Sigiel Norbert

Scientific Journal of Polish Naval Academy

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2019

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R. 60 nr 1 (216)

31--43

EN

Article presented below is a prelude to the process of autonomous underwater systems positioning. An article include description of positioning methods and guidelines for the operators of autonomous underwater vehicles (AUVs), concerning above mentioned process.

PL

Artykuł stanowi wprowadzenie w tematykę pozycjonowania podwodnych systemów autonomicznych. Ujęto w nim charakterystykę obecnie wykorzystywanych metod pozycjonowania oraz wytycznedla operatorów pojazdów autonomicznych w zakresie realizacji tego procesu.

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Procedures concerning preparations of autonomous underwater systems to operation focused on detection, classification and identification of mine like objects and ammunition

Żokowski M., Chodnicki M., Krogulec P., Sigiel N.

Journal of KONBiN

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2018

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No. 48

149--168

EN

The article presented below is a prelude to the process of conducting sea bottom researches with autonomous underwater systems, focused on detection, classification and identification of objects causing possible threat for shipping and maritime environment. An article include guidelines and suggestions for the operators of autonomous underwater vehicles (AUV), mainly concerning preparations for the operation.

PL

Niniejszy artykuł stanowi wprowadzenie w tematykę realizacji badań dna morskiego z wykorzystaniem systemów autonomicznych, których celem jest wykrycie, klasyfikacja oraz identyfikacja obiektów stanowiących potencjalne zagrożenie dla żeglugi oraz środowiska morskiego. Na poniższych stronach ujęto wytyczne oraz zalecenia dla operatorów pojazdów autonomicznych w zakresie realizacji procesu przygotowania do działań.