MINISTÈRE DE LA DÉFENSE. GESMA17 Décembre 01Diapositive N°2 / 36 Presented by : Benoit ZERR GESMA : Groupe dEtudes Sous-Marines de LAtlantique 29240 BREST.

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

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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

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SUMMARY SUMMARY

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

- Navigation on remarkable features on the seabed

- Acoustic Imaging Sensors

- Data processing

- Symbolic matching

- Results

- On going work

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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

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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

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REDERMOR IIREDERMOR II

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SUMMARY SUMMARY

- REDERMOR project

- Navigation on remarkable features on the seabed

- Acoustic Imaging Sensors

- Data processing

- Symbolic matching

- Results

- On going work

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REMARQUABLE FEATURES : WRECKS REMARQUABLE FEATURES : WRECKS

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SUMMARY SUMMARY

- REDERMOR project

- Navigation on remarkable features on the seabed

- Acoustic Imaging Sensors

- Data processing

- Symbolic matching

- Results

- On going work

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Fan shaped projection

ACOUSTIC IMAGING SENSORS ACOUSTIC IMAGING SENSORS

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

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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

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SUMMARY SUMMARY

- REDERMOR project

- Navigation on remarkable features on the seabed

- Acoustic Imaging Sensors

- Data processing

- Symbolic matching

- Results

- On going work

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

IMAGE # 0 IMAGE # 0

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

IMAGE # 1 IMAGE # 1

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

IMAGE # 2 IMAGE # 2

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

IMAGE # 3 IMAGE # 3

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

IMAGE # 4 IMAGE # 4

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

IMAGE # 5 IMAGE # 5

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

Symbolic informationSymbolic informationon tracking results on tracking results

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

ORIGINALORIGINALIMAGE IMAGE

SEGMENTEDSEGMENTEDIMAGEIMAGE

(SMALL SHADOWS)(SMALL SHADOWS)

SEGMENTEDSEGMENTEDIMAGEIMAGE

(SMALL SHADOWS)(SMALL SHADOWS)

PredefinedPredefinedThresholdThreshold

AdaptiveAdaptiveThresholdThreshold

SEGMENTEDSEGMENTEDIMAGEIMAGE

(LARGE SHADOWS)(LARGE SHADOWS)

Multi-scaleMulti-scaleAnalysisAnalysis

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SUMMARY SUMMARY

- REDERMOR project

- Navigation on remarkable features on the seabed

- Acoustic Imaging Sensors

- Data processing

- Symbolic matching

- Results

- On going work

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SYMBOLIC MATCHING SYMBOLIC MATCHING

Description of a constellation of objects

Navigation Data Base Objects detected duringthe current mission

Ok !Ok !

??

Matching Algorithm : Relaxation

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SUMMARY SUMMARY

- REDERMOR project

- Navigation on remarkable features on the seabed

- Acoustic Imaging Sensors

- Data processing

- Symbolic matching

- Results

- On going work

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RESULTS : NAVIGATION DATA BASERESULTS : NAVIGATION DATA BASE

Constellation TableConstellation Table

Matching Parameters TableMatching Parameters Table

Mission TableMission Table

Processed Mission TableProcessed Mission Table

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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

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RESULTS : SINGLE OBJECTRESULTS : SINGLE OBJECT

Data base descriptionData base description

Processing results of Processing results of current missioncurrent mission

WRECK OF “CASTELMEUR” WRECK OF “CASTELMEUR”

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RESULTS : SINGLE OBJECTRESULTS : SINGLE OBJECT

Data base descriptionData base description

Processing results of Processing results of current missioncurrent mission

WRECK OF “MEUSE” WRECK OF “MEUSE”

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RESULTS : CONSTELLATION OF OBJECTSRESULTS : CONSTELLATION OF OBJECTS

Track 1Track 1

Track 2Track 2

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RESULTS : CONSTELLATION OF OBJECTSRESULTS : CONSTELLATION OF OBJECTS

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SUMMARY SUMMARY

- REDERMOR project

- Navigation on remarkable features on the seabed

- Acoustic Imaging Sensors

- Data processing

- Symbolic matching

- Results

- On going work

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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

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Using seabed texture and micro-relief

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Using seabed texture and micro-relief

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Gobetas

Using 3D information

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Lanveoc Test Site

Using 3D information