DURIP: Side Scan Sonar and Inertial Navigation System for AUV-Based Ocean Bottom/Sub-Bottom Mapping for Object Search/Identification

摘要

The objectives of the work supported under this DURIP were to acquire and integrate a set of acoustic imaging and navigation systems into the Bluefin 21 AUV operated by the Marine Physical Laboratory, Scripps Institution of Oceanography (MPL/SIO). The purpose was to be able to conduct autonomous repeat mapping surveys of the ocean bottom and sub-bottom to search for changes in properties with time with decimeter level repeatability.