Bathymetric survey: using a SeaBat 8101 multibeam echo sounder mounted in the forward looking direction

摘要

As part of an effort to evaluate the use of a forward looking sonar in autonomous underwater vehicles (AUVs) for navigation purposes, a study was performed using a commercially available off the shelf (COTS) multibeam echo sounder (MBES) operating in a forward looking mode to survey several sites in Narragansett Bay, Rhode Island. The forward looking bathymetric information acquired will aid in the improvement of navigation technologies for AUVs. This gaper describes the results of a survey performed using a MBES mounted at two negative elevation angles in the forward looking direction. The results from the bathymetric data acquired from these angles was found to be directly be correlated to the ground truth data. The sonar configuration, data collection, and data analysis schemes are discussed. Results from several survey sites are presented.