论文标题
使用自主地面车辆的浅水测深测量
Shallow Water Bathymetry Survey using an Autonomous Surface Vehicle
论文作者
论文摘要
准确且具有成本效益的水体映射对于环境理解和导航具有巨大的意义。但是，我们从此类环境特征中获得的信息数量和质量受到各种因素的限制，包括成本，时间，安全性以及现有数据收集技术的功能。水深的测量是此类映射的重要组成部分，尤其是在可以提供导航风险或具有重要生态功能的浅层地点。例如，由于风暴和侵蚀，这些位置的侵蚀和沉积可能会导致需要重复测量的快速变化。在本文中，我们描述了使用侧扫声纳的低成本，弹性，无人自主的表面车辆进行测深的数据收集。我们讨论了用于收集导航，控制和测深数据的设备和传感器的改编，并概述了车辆设置。这款自动型地面车辆已用于从印度孟买的Powai湖收集测深。
Accurate and cost effective mapping of water bodies has an enormous significance for environmental understanding and navigation. However, the quantity and quality of information we acquire from such environmental features is limited by various factors, including cost, time, security, and the capabilities of existing data collection techniques. Measurement of water depth is an important part of such mapping, particularly in shallow locations that could provide navigational risk or have important ecological functions. Erosion and deposition at these locations, for example, due to storms and erosion, can cause rapid changes that require repeated measurements. In this paper, we describe a low-cost, resilient, unmanned autonomous surface vehicle for bathymetry data collection using side-scan sonar. We discuss the adaptation of equipment and sensors for the collection of navigation, control, and bathymetry data and also give an overview of the vehicle setup. This autonomous surface vehicle has been used to collect bathymetry from the Powai Lake in Mumbai, India.
