A METHOD AND DEVICE FOR AUTONOMOUS BATHYMETRY AND SURVEY OF FLOW PARAMETERS IN SHALLOW AND INLAND WATERS AND A METHOD THEREOF

摘要

The present invention relates to improvised surveying method and device including bathymetry and current estimation for shallow waters using low cost sensor suite. The surveying device involves a low-cost lightweight platform in the least, consisting of an echo- sounder (catering only to bathymetry), inertial sensor (INS) and global positioning system (GPS). Surveying is achieved through autonomous positioning of the platform obtained by the inertial sensor and global positioning system integrated within an estimation framework. The device is software-based estimation of water currents without using dedicated hardware like Flow-meters or Doppler profilers. The presented approach in particular eliminates use of costly hardware in shallow-water survey. The proposed surveying modules are organized by an intelligent mission control routine which imparts overall autonomy. Moreover, estimate of water flow parameters is used in navigation.