Small Autonomous Vehicle for Precision Maneuvering in Survey and R-I-N Missions / Ship Hull Inspection and Harbor Security Autonomous Underwater Vehicle
Final rept. 1 Sep 2002-30 Sep 2006
MASSACHUSETTS INST OF TECH CAMBRIDGE
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We designed, fabricated, and tested a new autonomous underwater vehicle system to carry out inspections of large ship hulls. The vehicle employs hull-relative navigation, so that operations can be performed without any absolute positioning data, and in poor acoustic environments. The primary payload sensor is an imaging sonar, whose data stream can be sent via fiber optic tether to a ground station for viewing. The system has been successtully demonstrated surveys and target detections on three vessels in Quincy, MA, San Diego, CA, and La Spezia, Italy. Work was performed in coordination with Bluefin Robotics Corporation, under separate ONR funding.
- Marine Engineering
- Underwater and Marine Navigation and Guidance