Abstract
Spatial information on the seabed is largely obtained by different methods of hydrographic survey. Autonomous underwater vehicles (AUVs) are agile and generate high-quality survey data. Positional accuracy of AUVs is based on deployment of a combination of satellite positioning sensors and attitude sensors, as well as subsea acoustic positioning, platform, and hydrographic survey sensors. Establishing mathematical models to determine the coordinates and respective propagation of the uncertainties among these sensors is necessary to define the potential applicability of AUV hydrographic surveys. The objective of our study was to develop, evaluate, and apply a propagation algorithm for uncertainties associated with the spatial information generated by AUV hydrographic surveys. The results show that the critical components of the propagation model are the acoustic positioning performed via ultrashort baseline (USBL). Selection of the correct configuration of sensors and equipment can ensure that AUV hydrographic surveys meet the International Hydrographic Organization’s (IHO’s) specifications for total horizontal uncertainty (THU) associated with the precision required for minimum standards for hydrographic surveys.
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Published In
Journal of Surveying Engineering
Volume 145 • Issue 1 • February 2019
Copyright
© 2018 American Society of Civil Engineers.
History
Received: Jan 19, 2018
Accepted: Jul 10, 2018
Published online: Nov 23, 2018
Published in print: Feb 1, 2019
Discussion open until: Apr 23, 2019
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