MINISTÈRE DE LA DÉFENSE
Mar 28, 2015
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
GESMA 17 Décembre 01 Diapositive N°3 / 36
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
GESMA 17 Décembre 01 Diapositive N°4 / 36
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
GESMA 17 Décembre 01 Diapositive N°5 / 36
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
GESMA 17 Décembre 01 Diapositive N°6 / 36
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
GESMA 17 Décembre 01 Diapositive N°7 / 36
REDERMOR IIREDERMOR II
GESMA 17 Décembre 01 Diapositive N°8 / 36
SUMMARY SUMMARY
- REDERMOR project
- Navigation on remarkable features on the seabed
- Acoustic Imaging Sensors
- Data processing
- Symbolic matching
- Results
- On going work
GESMA 17 Décembre 01 Diapositive N°9 / 36
REMARQUABLE FEATURES : WRECKS REMARQUABLE FEATURES : WRECKS
GESMA 17 Décembre 01 Diapositive N°10 / 36
SUMMARY SUMMARY
- REDERMOR project
- Navigation on remarkable features on the seabed
- Acoustic Imaging Sensors
- Data processing
- Symbolic matching
- Results
- On going work
GESMA 17 Décembre 01 Diapositive N°11 / 36
Fan shaped projection
ACOUSTIC IMAGING SENSORS ACOUSTIC IMAGING SENSORS
Forward Looking SonarReson 8101 (20 ° x 150°, 240 kHz)
GESMA 17 Décembre 01 Diapositive N°12 / 36
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
GESMA 17 Décembre 01 Diapositive N°13 / 36
SUMMARY SUMMARY
- REDERMOR project
- Navigation on remarkable features on the seabed
- Acoustic Imaging Sensors
- Data processing
- Symbolic matching
- Results
- On going work
GESMA 17 Décembre 01 Diapositive N°14 / 36
DATA PROCESSING : FORWARD LOOKING SONAR DATA PROCESSING : FORWARD LOOKING SONAR
IMAGE # 0 IMAGE # 0
GESMA 17 Décembre 01 Diapositive N°15 / 36
DATA PROCESSING : FORWARD LOOKING SONAR DATA PROCESSING : FORWARD LOOKING SONAR
IMAGE # 1 IMAGE # 1
GESMA 17 Décembre 01 Diapositive N°16 / 36
DATA PROCESSING : FORWARD LOOKING SONAR DATA PROCESSING : FORWARD LOOKING SONAR
IMAGE # 2 IMAGE # 2
GESMA 17 Décembre 01 Diapositive N°17 / 36
DATA PROCESSING : FORWARD LOOKING SONAR DATA PROCESSING : FORWARD LOOKING SONAR
IMAGE # 3 IMAGE # 3
GESMA 17 Décembre 01 Diapositive N°18 / 36
DATA PROCESSING : FORWARD LOOKING SONAR DATA PROCESSING : FORWARD LOOKING SONAR
IMAGE # 4 IMAGE # 4
GESMA 17 Décembre 01 Diapositive N°19 / 36
DATA PROCESSING : FORWARD LOOKING SONAR DATA PROCESSING : FORWARD LOOKING SONAR
IMAGE # 5 IMAGE # 5
GESMA 17 Décembre 01 Diapositive N°20 / 36
DATA PROCESSING : FORWARD LOOKING SONAR DATA PROCESSING : FORWARD LOOKING SONAR
Symbolic informationSymbolic informationon tracking results on tracking results
GESMA 17 Décembre 01 Diapositive N°21 / 36
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
GESMA 17 Décembre 01 Diapositive N°22 / 36
SUMMARY SUMMARY
- REDERMOR project
- Navigation on remarkable features on the seabed
- Acoustic Imaging Sensors
- Data processing
- Symbolic matching
- Results
- On going work
GESMA 17 Décembre 01 Diapositive N°23 / 36
SYMBOLIC MATCHING SYMBOLIC MATCHING
Description of a constellation of objects
Navigation Data Base Objects detected duringthe current mission
Ok !Ok !
??
Matching Algorithm : Relaxation
GESMA 17 Décembre 01 Diapositive N°24 / 36
SUMMARY SUMMARY
- REDERMOR project
- Navigation on remarkable features on the seabed
- Acoustic Imaging Sensors
- Data processing
- Symbolic matching
- Results
- On going work
GESMA 17 Décembre 01 Diapositive N°25 / 36
RESULTS : NAVIGATION DATA BASERESULTS : NAVIGATION DATA BASE
Constellation TableConstellation Table
Matching Parameters TableMatching Parameters Table
Mission TableMission Table
Processed Mission TableProcessed Mission Table
GESMA 17 Décembre 01 Diapositive N°26 / 36
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
GESMA 17 Décembre 01 Diapositive N°27 / 36
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”
GESMA 17 Décembre 01 Diapositive N°28 / 36
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”
GESMA 17 Décembre 01 Diapositive N°29 / 36
RESULTS : CONSTELLATION OF OBJECTSRESULTS : CONSTELLATION OF OBJECTS
Track 1Track 1
Track 2Track 2
GESMA 17 Décembre 01 Diapositive N°30 / 36
RESULTS : CONSTELLATION OF OBJECTSRESULTS : CONSTELLATION OF OBJECTS
GESMA 17 Décembre 01 Diapositive N°31 / 36
SUMMARY SUMMARY
- REDERMOR project
- Navigation on remarkable features on the seabed
- Acoustic Imaging Sensors
- Data processing
- Symbolic matching
- Results
- On going work
GESMA 17 Décembre 01 Diapositive N°32 / 36
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
GESMA 17 Décembre 01 Diapositive N°33 / 36
Using seabed texture and micro-relief
GESMA 17 Décembre 01 Diapositive N°34 / 36
Using seabed texture and micro-relief
GESMA 17 Décembre 01 Diapositive N°35 / 36
Gobetas
Using 3D information
GESMA 17 Décembre 01 Diapositive N°36 / 36
Lanveoc Test Site
Using 3D information