AUV Acoustic Sensor Layout for Tracking Buried Seabed Objects
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Solution Overview
Problem
Existing autonomous underwater vehicles (AUVs) struggle to efficiently track buried objects in the seabed due to the inability of current sensor systems to determine the direction of reflected signals, limiting their operational speed and effectiveness.
Innovation Solution
Equipping AUVs with dual acoustic sensor assemblies on the port and starboard sides to record reflected acoustic signals from the seabed and buried objects, using time differences and cross-correlation functions to determine the object's offset and steer the vehicle accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a single SBP sensor is used to detect buried objects, then the AUV can detect the presence of objects, but it cannot determine the direction (port or starboard side) of the reflected signal
Solution Approach 1:
The sensor system is segmented into multiple sensor assemblies positioned at different locations on the AUV (port side, starboard side, and/or nadir). Each sensor assembly independently records acoustic signals, and by comparing the signals from multiple sensors, the system determines the directional origin of reflected signals from buried objects, resolving the ambiguity of single-sensor detection.
2Speed
If ROV is used to follow the object with camera or video, then the object can be tracked visually, but the operational speed is limited by the tether
Solution Approach 1:
The mechanical tether-based control system of the ROV is replaced with an autonomous acoustic navigation system. The AUV uses acoustic sensors to detect reflected signals from buried objects and automatically steers based on signal processing algorithms, eliminating the need for physical tether connection and enabling higher operational speeds with full independence from surface vessels.
3Reliability
If AUV uses multibeam or side scan sonar for adaptive steering, then the AUV can track objects above the seafloor, but the objects cannot be tracked when buried
Solution Approach 1:
The acoustic sensor system is designed to perform multiple functions: it can detect both objects above the seafloor and buried objects using the same acoustic transmission and reception mechanism. By processing reflected acoustic signals from Sub Bottom Profiler sensors and analyzing directional information from multiple sensor assemblies, the system adapts to track objects regardless of their burial status, maintaining reliable tracking across different operational conditions.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables AUVs to accurately track and maintain alignment with buried objects, enhancing operational speed and efficiency by utilizing time differences and cross-correlation techniques to navigate based on reflected energy patterns.
Implementation Method 1
at least one acoustic transmitter for generating acoustic signal towards the buried object and the seabed
Implementation Method 2
a first sensor assembly comprising one or more acoustic sensors for recording reflected acoustic signal from the buried object and the seabed
Data Source
AI summary
A method for steering an Autonomous Underwater Vehicle along an object buried below a seabed: the AUV being equipped with at least one acoustic transmitter for generating acoustic signal towards the buried object and the seabed; arranging a first sensor assembly flush with the AUV hull of the starboard side of the AUV for recording reflected acoustic signal from the buried object and the seabed, arranging a second sensor assembly flush with the AUV hull of the port side of the AUV for recording reflected acoustic signal from the buried object and the seabed.