exploiting performance measures from advanced sas systems ...€¦ · exploiting performance...
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Exploiting performance measures from advanced
SAS systems for autonomous MCM operations
Torstein Olsmo Sæbø
Research manager, Underwater Robotics
Norwegian Defence Research Establishment (FFI)
Undersea Defence Technology (UDT), 14/5-2019
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The Role of the Norwegian Navy
Allied
support
-Sea
Allied
support
-Air
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WW II Mine fields in the Oslo fjord
• British air-dropped mining of
the inlets to Oslo
• Established in May 1940,
September 1941 and
November 1941 in the inner
part of the fjord
• Established between
September 1944 and April
1945 in the outer parts
• “Cleared” mid 90s using
Oksøy class
• 30+ new objects found a few
years ago
• Several new objects found last
year
Minefind
Sea Mine Ground
Milco
Uxo
Sea Mine Ground (Cleared)
Courtesy of B. E. Marthinsen
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Future NOR MMCM concept
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Norwegian NMCM Structure Road Map
Cu
rre
nt
MM
CM
Cap
acit
y Futu
re M
MC
M C
apacity
2016 2018 2020 2022 2024 2026 2028
MMCM
TeamsConceptual
phaseDefinition
PhaseProject Phase
2015
Technology Development & Testing2026
IOC2028
FOC
• From MCM vessels to support vessels
• From ship integrated systems to modular systems
• From ship-based organization to team organization
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HUGIN autonomous underwater vehicle (AUV)
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RNoN AUV Batch Procurement
• Four Kongsberg HUGIN AUVs with 3000 m depth rating
– 1st vehicle delivered week 36, first container system (with 2nd vehicle) delivered week 48
• Main payload sensors
– Synthetic Aperture Sonar (Mine detection & classification, mapping)
– Multi-beam Echo Sounder (MD&C, Mapping)
– Laser Camera (Contact identification and detailed mapping)
– B/W still image camera (ID and detailed imaging)
• In-mission processing
– SAS and Automatic Target Recognition (ATR)
• Performance evaluation
– MCM Insite delivered by FFI
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Supervised
Accompanying surface vessel
Acoustical updates of status,
commands and position
Autonomous
Prior, fixed plan
Autonomous navigation
Emergency actions
Autonomous
Adaptive plan
Adapt to environment,
status and sensor data
to reach mission goals
Increased autonomy
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The AUV revolution – 1995-2005
Side scan sonar
Detection of ground mines
The SAS revolution – 2000-2010
Detection and classification of ground mines from one pass
The autonomy revolution
Detection and classification of ground mines from one pass
Identificationin a second pass in the same mission
AUVs in MCM
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HISAS
• Prototype developed 2001-2005
• Around 20 production systems delivered since 2009
• In use with
– Royal Norwegian Navy
– Finnish Navy
– Polish Navy
– NAVO, USA
– German MoD
– Various civilian customers
• More than 10 systems currently under
delivery to military and civilian customers
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SAS is suitable for imaging small objects…
Range 110 m Range 45 m
Range 130 m
Range 100 m
Range 105 m
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…and large objects
240 x 100 m area
Courtesy Norwegian Coastal Administration
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Example advanced SAS products: Sonar image and bathymetry
SAS image SAS bathymetry
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Example advanced SAS products: Coherence and fusion image
Coherence Fusion
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Example advanced SAS products: Anisotropy and variance
Anisotropy Multiscale variance
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MCM Insite Performance Model in real-time autonomy system
Sharpness
Multi-scale
Variances
Anisotropy
Vehicle Data
Performance
Table
Performance
Table
Performance
Maps
SNR
Performance
Table
Performance
Maps
Sonar
Resolutions
Fraction
UndetectableMCM Insite
Performance
Maps
Performance parameters
Table look-ups
Table selected based on mine
threat and data analysis system
Exported Results
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MCM Insite integrated into Reflection AUV PMA tool
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In-mission MCM performance evaluation test in 2018 (1)
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In-mission MCM performance evaluation test in 2018 (2)
AUV tracks
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• Multi-national AutoNomous EXperiment (MANEX)
• 30/9 – 25/10 2013 outside Elba Island, Italy
• NATO STO Centre for Maritime Research & Experimentation (CMRE)
MANEX’13
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Single-mission concept demonstrated during CMRE exercises
Area search
In-mission SAS processingIn-mission ATR In-mission replanning In-mission EOID
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Classification results
Rockan 81% Manta 99% Manta 63%Cylinder 99%
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MILEC MILCO MINE
MINE listMILCO list
Detect Classify Identify Neutralize
Search,Classify & Map
Reacquire & Identify
Reacquire & Neutralize
NON MILCO NOMBO
New procedure for MCM operations
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Questions?