USVs for Hydrographic Survey of Inland Waterways

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1 USVs for Hydrographic Survey of Inland Waterways John Tamplin President Seafloor Systems, Inc. MAY 9, 2017

2 USVs for Hydrographic Survey of Inland Waters Tools, Preparation, and Implementation of Unmanned Surface Vehicles for Hydrographic Survey

3 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

4 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

5 Unmanned Surface Vehicle (USV) User Controlled and Monitored Vehicles Both RC and Basic Auto-Pilot functions Majority of vehicles

6 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

7 HyDrone TM 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)

8 Z-Boat TM Class Vehicles Monohull ~ 1.8m Large payloads ADCP Multibeam Sidescan sonar PC Medium Endurance (4-8 hours) Protected Waterways

9 C-Worker TM Class Vehicles >3.0m Long Endurance (12-24 hours) Multi-mission Nearly Autonomous All Open-ocean and Inland waterways

10 Hydrographic Sensors Echosounders Singlebeam Multibeam Imaging Sonar Sidescan Sonar Scanning Sonar Hydrid Sonar Swathe/Interferometric Sonar Current Profilers ADCP

11 Mission Planning Open Source Software Mission Planner Hydrographic Software Packages Hypack

12 Launch and Recovery Often overlooked detail Launch from Shore Trailer Davit Crane Launch from Craft A-Frame Davit /Crane Environmental Conditions Vehicle vulnerable points

13 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

14 Autonomous Data Collection Hydrolite-TM type systems Battery Powered Bluetooth interface Limited controls No line keeping function

15 Real-time Monitoring and Collection Real-time RF Data Telemetry Bluetooth FreeWave WiFi Cellular Remote Desktop Windows Remote Desktop Teamviewer

16 Real-time Data Telemetry Bluetooth FreeWave WiFi Cellular

17 Bluetooth Telemetry Pros: Low Power Universal Plug and Play Cons: Range limited to <100m Easily interrupted Low bandwidth Limited devices

18 FreeWave Radio Pros: No License Long-range Cons: Line of sight Single com port Expensive Low bandwidth

19 Cellular Pros: Over-the-horizon Long range High Bandwidth Cons: Expensive Must be in Cell Range Complex

20 WiFi Pros: Low cost Multi-port Long-range High Bandwidth Universal Cons: Line of sight Complex

21 Remote Desktop Real-time monitoring of onboard PC Full control of all onboard systems Data logged locally QA/QC Realtime Coverage

22 Mission Endurance Factors Power Supply Battery Powered Internal Combustion Hybrid Speed Sensors Environment

23 Post-Processing Direct Data Export to XYZ Post-Processing / Office USB drive Ethernet Real-Time Processing Caris Onboard Qinsy Qimera

24 Direct Data Export Cloud file from Data Collector Batch File export Spreadsheet format X,Y,Z,Depth X,Y,Z+Depth Added

25 Post Processing / Office Hysweep Caris HIPS QINSY PDS2000

26 Real-Time Processing Batch Data Processing Automated Pros: Automated processing Near real-time products Cons: No Patch Test No QA/QC of Data