engleski

Navigational Challenges in Diver-AUV interaction for underwater mapping and intervention missions

Diver Navigation and Imaging System (DiNIS) is a compact, capable, integrated, underwater hand-held diver navigation system. DiNIS provides a complete suite of commercial underwater navigation sensors for the purpose of waypoint navigation, Intelligence, Surveillance, and Reconnaissance (ISR), bathymetry, and underwater imagery in the form of both sonar and video. DiNIS functionality includes Mission Planning, Waypoint Navigation, Sonar Imagery, Video Imagery, and Marking of Targets of Interest. During the recent sea trials DiNIS achieved excellent performance and navigation capability was superb. The average error was 0.3° - 0.5° of distance traveled after accounting for any offsets or errors in our position marks (GPS error). Moreover, we desigend an on-board calibration routine that helps with compensating for hard iron signature of the device, which can be performed in air or in-water. Our Diver Navigators equipped with these components can then work cooperatively with Autonomous Underwater Vehicles (AUV), autonomous surface vehicles (ASV) or manned surface/subsurface vessels equipped with much higher grade navigation sensors.

underwater navigation ; mapping ; mosaicking ; forward looking sonarautomatic target detection ; acoustic image processing ; acoustic communication

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