presented by : benoit zerr gesma : g roupe d’ e tudes s ous- m arines de l’ a tlantique

MINISTÈRE DE LA DÉFENSE

GESMA 17 Décembre 01 Diapositive N°2 / 36

Presented by :

Benoit ZERR

GESMA : Groupe d’Etudes Sous-Marines de L’Atlantique29240 BREST NAVAL

FRANCE

NAVIGATION OF UNDERWATER NAVIGATION OF UNDERWATER PLATFORMS USING LANDMARKSPLATFORMS USING LANDMARKS

WORKSHOP : UNDERWATER ROBOTICS FOR OCEAN MODELLING AND MONITORING, 17-18 Dec 2001, Laboratoire I3S, Sophia Antipolis, France


SUMMARY SUMMARY

- REDERMOR project

- Navigation on remarkable features on the seabed

- Acoustic Imaging Sensors (FLS and SSS)

- Data processing

- Symbolic matching

- Results

- On going work


SUMMARY SUMMARY

- REDERMOR project : FR (GESMA) - US (NUWC) cooperation


- Acoustic Imaging Sensors

- Data processing

- Symbolic matching

- Results

- On going work


Non Traditional Navigation UUV Guidance Non Traditional Navigation UUV Guidance and Control Research Projectand Control Research Project

Perception environment,

internal

Decision Action planning,

guidance, control / command

Functionalities:

- are activated by messages (requests)

- send back messages (events)

- exchange data through shared memory

Execution Monitoring

send requests when events occur

according with Behaviors specifications.

General System Architecture

FEATURE MAPPROCESSOR

FEATURE MAPGENERATOR

FLS - SSS

STATEGENERATOR

LOCALPLANNER

GUIDANCE

DYNAMICCONTROL

STATEESTIMATOR

TRADITIONALSENSORS

MISSIONCONTROLLER

GLOBALPLANNER

PROCOSAEXECUTIONMONITORING

ACTUATORS

REQUEST

EVENT


Previous VersionsPrevious VersionsCommon Features

cylindrical ( Ø 1.03 m) watertight section common to all versions with exchangeable front and aft parts and cylindrical section in option 4 main thrusters (7.5 kW on shaft each) sensors: MRU, Doppler Log, EM Log, CTD, safety sensors maximum depth : 200 m Control Loops: Speed, heading, altitude, depth, pitch-roll stabilization Man Machine Interface for the supervision

Maneuverable versions High speed version

weight 2600 kg 3100 kg

length 5 m 5.5 m

speed range 0 to 6 knots 2 to 10 knots

auxiliaryactuators

1 transversal thruster3 vertical thrusters

1 canard1 ruder


REDERMOR IIREDERMOR II


SUMMARY SUMMARY

- REDERMOR project



- Data processing

- Symbolic matching

- Results

- On going work


REMARQUABLE FEATURES : WRECKS REMARQUABLE FEATURES : WRECKS


SUMMARY SUMMARY

- REDERMOR project



- Data processing

- Symbolic matching

- Results

- On going work


Fan shaped projection

ACOUSTIC IMAGING SENSORS ACOUSTIC IMAGING SENSORS

Forward Looking SonarReson 8101 (20 ° x 150°, 240 kHz)


ACOUSTIC IMAGING SENSORS ACOUSTIC IMAGING SENSORS

0.2 m

75 m

0.03 m

150 m

Side Scan SonarKlein 5400 B

• range : 150m• Fc : 455 kHz• speed : 8Knts• resolution : 20 cm


SUMMARY SUMMARY

- REDERMOR project



- Data processing

- Symbolic matching

- Results

- On going work


DATA PROCESSING : FORWARD LOOKING SONAR DATA PROCESSING : FORWARD LOOKING SONAR

IMAGE # 0 IMAGE # 0



IMAGE # 1 IMAGE # 1



IMAGE # 2 IMAGE # 2



IMAGE # 3 IMAGE # 3



IMAGE # 4 IMAGE # 4



IMAGE # 5 IMAGE # 5



Symbolic informationSymbolic informationon tracking results on tracking results


DATA PROCESSING : SIDE SCAN SONAR DATA PROCESSING : SIDE SCAN SONAR

ORIGINALORIGINALIMAGE IMAGE

SEGMENTEDSEGMENTEDIMAGEIMAGE

(SMALL SHADOWS)(SMALL SHADOWS)


(SMALL SHADOWS)(SMALL SHADOWS)

PredefinedPredefinedThresholdThreshold

AdaptiveAdaptiveThresholdThreshold


(LARGE SHADOWS)(LARGE SHADOWS)

Multi-scaleMulti-scaleAnalysisAnalysis


SUMMARY SUMMARY

- REDERMOR project



- Data processing

- Symbolic matching

- Results

- On going work


SYMBOLIC MATCHING SYMBOLIC MATCHING

Description of a constellation of objects

Navigation Data Base Objects detected duringthe current mission

Ok !Ok !

??

Matching Algorithm : Relaxation


SUMMARY SUMMARY

- REDERMOR project



- Data processing

- Symbolic matching

- Results

- On going work


RESULTS : NAVIGATION DATA BASERESULTS : NAVIGATION DATA BASE

Constellation TableConstellation Table

Matching Parameters TableMatching Parameters Table

Mission TableMission Table

Processed Mission TableProcessed Mission Table


RESULTS : SINGLE OBJECTRESULTS : SINGLE OBJECT

TEST OBJECT FOR LCM SONARSTEST OBJECT FOR LCM SONARS

Data base descriptionData base description

Processing results of Processing results of current missioncurrent mission

VideoVideo





WRECK OF “CASTELMEUR” WRECK OF “CASTELMEUR”





WRECK OF “MEUSE” WRECK OF “MEUSE”


RESULTS : CONSTELLATION OF OBJECTSRESULTS : CONSTELLATION OF OBJECTS

Track 1Track 1

Track 2Track 2


RESULTS : CONSTELLATION OF OBJECTSRESULTS : CONSTELLATION OF OBJECTS


SUMMARY SUMMARY

- REDERMOR project



- Data processing

- Symbolic matching

- Results

- On going work


ON GOING WORK ….ON GOING WORK ….

- Better characterization of wercks : size is not enough …

- Use of seabed texture boundaries : seasonal data base?

- Second generation of image processing algorithms

- Environment adaptive mission planning

- Navigation on bathymetry : interferometric sonar


Using seabed texture and micro-relief


Gobetas

Using 3D information


Lanveoc Test Site

Using 3D information

presented by : benoit zerr gesma : g roupe d’ e tudes s ous- m arines de l’ a tlantique

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