Multi-Sonar Survey Controller

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Multi-Sonar FactsheetVer. 1.0 3 Oct 2008
Multi-Sonar Survey Controller
Overview Embedded Software Controller offering
centralised ping control of multi-beam with other
sonar devices operating within the same frequency
range. A novel1 method interleaves the
transmission-reception cycle of each sonar device
in real-time to eliminate sensor
crosstalk. Determines optimal vehicle velocity
and ping rate to achieve optimal ground
coverage.
Swath overlap adjusted by raising multibeam
relative to SSS on front of ROV.
Customer Benefits Reduced survey time and cost
as data from all sonar devices is acquired
simultaneously in a single pass. Collection of
supporting environmental data only required once.
E.g. Water column SVP. Co-registration of
features minimises navigation uncertainties
dataset ambiguities. On the fly generation of the
Digital Terrain Model allows swath survey
coverage to be optimised and enables auto-heading
velocity control of vehicle for the survey. Makes
sidescan sonar slant range sediment angular
response correction possible. Especially suitable
for shallow water ship based operations or
alternatively ROV/AUV operations flown close to
the seabed.
1 PCT Patent Pending
Mobile Marine Robotics Research Centre,
University of Limerick, Limerick, Ireland
Dr Daniel Toal Director 353 (0) 61
202264daniel.toal_at_ul.ie
Mr Simon Marr Marketing 353 (0) 61
213498simon.marr_at_ul.ie
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Typical Setup MBES Multibeam Echo Sounder data
control SSS Sidescan Sonar data and
control INS Inertial Navigation System providing
positioning and orientation data Display Swath
coverage / MBES SSS data display, system
status Surveyor Control Desired
resolution/survey specification Pilot Control
Navigation changes to optimise coverage and
performance.
Software Execution Model Prioritised
multi-threaded architecture used to achieve
real-time performance. Beam data fused with
position and orientation data to generate new
geo-referenced bathymetry data points . Sonar
trigger intervals and platform state recalculated
from Digital Terrain Model.
Proving the Concept Prototype implemented in
C. OpenMesh used for building the Digital
Terrain Model using polygonal meshes. Separate
adaptors are written for each connected
device. First release to undergo laboratory
testing with the Reson 7125 Multibeam and the
Tritech Sidescan Sonars. Sea trials to follow as
part of the ROVLATIS payload in Spring 2009.
Learn more about the Multi-Sonar or our other
Mission Support Tools by joining our new ROVLATIS
mailing list or follow progress at
www.rovlatis.ie
Mission Support Toolkit also includes MPPT
Ring PULSE-RT
Mobile Marine Robotics Research Centre,
University of Limerick, Limerick, Ireland
Dr Daniel Toal Director 353 (0) 61
202264daniel.toal_at_ul.ie
Mr Simon Marr Marketing 353 (0) 61
213498simon.marr_at_ul.ie