DocumentCode :
1554635
Title :
Performance metrics for oceanographic surveys with autonomous underwater vehicles
Author :
Willcox, J. Scott ; Bellingham, James G. ; Zhang, Yanwu ; Baggeroer, Arthur B.
Author_Institution :
Bluefin Robotics Corp., Cambridge, MA, USA
Volume :
26
Issue :
4
fYear :
2001
fDate :
10/1/2001 12:00:00 AM
Firstpage :
711
Lastpage :
725
Abstract :
Discusses tools to facilitate the effective use of AUVs to survey small-scale oceanographic processes. A fundamental difficulty is the coupling of space and time through the AUV survey trajectory. Combined with the finite velocity and battery life of an AUV, this imposes serious constraints on the extent of the survey domain and on the spatial and temporal survey resolutions. We develop a quantitative survey error metric which accounts for errors due to both spatial undersampling and temporal evolution of the sample field. The accuracy of the survey error metric is established through surveys of a simulated oceanographic process. Using the physical constraints of the platform, we develop the "survey envelope" which delineates a region of survey parameter space within which an AUV can successfully complete a mission. By combining the survey error metric with the survey envelope, we create a graphical survey analysis tool which can be used to gain insight into the AUV survey design problem. We demonstrate the application of the survey analysis tool with an examination of the impact of certain survey design and parameters on surveys of a simple oceanographic process
Keywords :
oceanographic equipment; oceanographic techniques; remotely operated vehicles; surveying; underwater vehicles; AUVs; autonomous underwater vehicles; graphical survey analysis tool; oceanographic surveys; quantitative survey error metric; small-scale oceanographic processes; spatial survey resolutions; spatial undersampling; survey parameter space; temporal evolution; temporal survey resolutions; Batteries; Environmental economics; Measurement; Oceans; Sampling methods; Sea floor; Sonar navigation; Spatial resolution; Underwater vehicles; Vehicle dynamics;
fLanguage :
English
Journal_Title :
Oceanic Engineering, IEEE Journal of
Publisher :
ieee
ISSN :
0364-9059
Type :
jour
DOI :
10.1109/48.972114
Filename :
972114
Link To Document :
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