AUV Abyss workflow: autonomous deep sea exploration for ocean research

Klischies, Meike, Rothenbeck, Marcel, Steinführer, Anja, Yeo, Isobel A. and dos Santos Ferreira, Christian (2018) AUV Abyss workflow: autonomous deep sea exploration for ocean research [eprint_typename_software]

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Abstract

Autonomous underwater vehicles (AUVs) equipped with multibeam echosounders (MBES) have become increasingly important in ocean exploration and seafloor mapping. Navigation of AUVs and accuracy of acquired MBES data is challenging, especially in deep water or rough terrain.
Here, we present the AUV Abyss operation workflow that uses systematic mission planning together with a long baseline (LBL) positioning network, and systematic post-processing of the MBES data using feature matching. The workflow enables autonomous exploration even in difficult terrain, makes ultrashort baseline navigation during the AUV survey obsolete and with this, increases the efficiency of ship time. It gives the possibility for multi-survey mapping campaigns to produce high-resolution, large-coverage seafloor maps while at sea. Automated documentation of post-processing steps enhances the comprehensibility of produced results, facilitates knowledge transfer and adaptation to other systems providing a first step towards automatization of AUV operations and data processing.

Document Type: eprint_typename_software
Keywords: AUV Abyss
Research affiliation: NOC
MARUM
OceanRep > GEOMAR > FB4 Dynamics of the Ocean Floor > FB4-MUHS Magmatic and Hydrothermal Systems
DOI etc.: 10.3289/SW_1_2018
Date Deposited: 12 Oct 2018 07:26
Last Modified: 15 Oct 2018 08:30
URI: http://eprints.uni-kiel.de/id/eprint/44476

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