of inland w a t e r w a y s us v s fo r hy dr ogr a phic...
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USVs for Hydrographic Survey of Inland Waterways
John Tamplin | President | Seafloor Systems, Inc.
MAY 9, 2017
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USVs for Hydrographic Survey of Inland Waters
Tools, Preparation, and Implementation of Unmanned Surface Vehicles for Hydrographic Survey
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USV’s (Unmanned Surface Vehicles)
RCV vs. USV vs. ASV Seafloor HyDrone Class Vehicles Teledyne Z-Boat Class Vehicles ASV Global C-Worker Class Vehicle Hydrographic Sensors Mission Planning Launch and Recovery Survey Monitoring and Data Collection Post Processing
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Remotely Controlled (RC) Vehicles
Fully controlled by the User
Limited range (<1km)
Line of Sight
Pros: – Direct control over vehicle
– Fast mobilization
Cons: – Tedious, tiresome
– Limited visual range
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Unmanned Surface Vehicle (USV)
User Controlled and Monitored Vehicles
Both RC and Basic Auto-Pilot functions
Majority of vehicles
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Autonomous Surface Vehicles
What is a True “Autonomous Vehicle”? Monitored Has Full Autonomy Able to Navigate and avoid obstacles
above Auxiliary sensors
– LiDAR – Camera – Sonar – Infra-red
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HyDroneTM Class Vehicles
Catamaran ~ 1.2m Small payload
– Singlebeam echosounder – GPS – Data Collector – Small ADCP
RC and Auto Pilot Lakes, Rivers, Ponds, etc. Medium Endurance (4-8 hours)
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Z-BoatTM Class Vehicles
Monohull
~ 1.8m
Large payloads – ADCP
– Multibeam
– Sidescan sonar
– PC
Medium Endurance (4-8 hours)
Protected Waterways
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C-WorkerTM Class Vehicles
>3.0m
Long Endurance (12-24 hours)
Multi-mission
Nearly Autonomous
All Open-ocean and Inland waterways
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Hydrographic Sensors
Echosounders – Singlebeam – Multibeam
Imaging Sonar – Sidescan Sonar – Scanning Sonar
Hydrid Sonar – Swathe/Interferometric Sonar
Current Profilers – ADCP
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Mission Planning
Open Source Software – Mission Planner
Hydrographic Software Packages – Hypack
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Launch and Recovery
Often overlooked detail Launch from Shore
– Trailer – Davit – Crane
Launch from Craft – A-Frame – Davit /Crane
Environmental Conditions Vehicle vulnerable points
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Survey Monitoring and Data Collection
Autonomous Data Collection – In-situ data collection via
onboard PC
– Onboard data collector
Real-Time Monitoring – Remote Desktop to onboard
PC
– LR Telemetry
– Both
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Autonomous Data Collection
Hydrolite-TM type systems – Battery Powered
– Bluetooth interface
– Limited controls
– No line keeping function
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Real-time Monitoring and Collection
Real-time RF Data Telemetry
– Bluetooth
– FreeWave
– WiFi
– Cellular
Remote Desktop
– Windows Remote Desktop
– Teamviewer
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Real-time Data Telemetry
Bluetooth
FreeWave
WiFi
Cellular
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Bluetooth Telemetry
Pros: – Low Power
– Universal
– Plug and Play
Cons: – Range limited to <100m
– Easily interrupted
– Low bandwidth
– Limited devices
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FreeWave Radio
Pros: – No License
– Long-range
Cons: – Line of sight
– Single com port
– Expensive
– Low bandwidth
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Cellular
Pros: – Over-the-horizon
– Long range
– High Bandwidth
Cons: – Expensive
– Must be in Cell Range
– Complex
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WiFi
Pros: – Low cost
– Multi-port
– Long-range
– High Bandwidth
– Universal
Cons: – Line of sight
– Complex
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Remote Desktop
Real-time monitoring of onboard PC
Full control of all onboard systems
Data logged locally
QA/QC
Realtime Coverage
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Mission Endurance Factors
Power Supply – Battery Powered
– Internal Combustion
– Hybrid
Speed
Sensors
Environment
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Post-Processing
Direct Data Export to XYZ
Post-Processing / Office – USB drive
– Ethernet
Real-Time Processing – Caris Onboard
– Qinsy Qimera
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Direct Data Export
Cloud file from Data Collector
Batch File export
Spreadsheet format – X,Y,Z,Depth
– X,Y,Z+Depth Added
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Post Processing / Office
Hysweep
Caris HIPS
QINSY
PDS2000
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Real-Time Processing
Batch Data Processing Automated
Pros: – Automated processing
– Near real-time products
Cons: – No Patch Test
– No QA/QC of Data