The Study On Application Of Inteferometric Multibeam Echo Sounder In Subaqueous Unmanned System

Multibeam Echosounder System (MBES) has been widely used in submarine topography surveying. MBES is usually equipped on a ship or towed by a ship on the water surface. This method may waste more time and energy and cannot give play to biggest advantage of the MBES. Autonomous Underwater Vehicle (AUV) can perform the exploration task for seafloor with steady speed, altitude and attitude to survey the submarine topography. Unmanned surface vessel (US V) can survey the areas far out to sea autonomously. So the application of the MBES on the unmanned vehicle in the water may circumvent these disadvantage of the traditional method.To solve the problems during the application of the GS+ inteferometric MBES on the unmanned vehicle in the water, this article is based on the acoustic theory and the operating principle and synthesizes the operating principle of both the GS+ and the unmanned vehicle in the water, and then finish the sea trials. The problems are listed as follows.Firstly,according to the acoustic theory of the inteferometric MBES,it is very sensitive to the angle of the beam. The inteferometric MBES must integrate the information of the navigation, attitude and the detect data to generate results while working. If there is delay during the receiving of the information, the navigation and the attitude may be error and effect the launching or receiving of the beam. It will cause the error of the results. This article will solve this problem by transforming the data transmission and so on.Secondly, the unmanned vehicle in the water is always smaller than the normal ship,however a set of MBES including the controller, transducer and other equipment. The exist of the MBES may have an effect on the sailing capability of the vehicle. After getting full analysis of the sailing capability of the vehicle and the operation requirements, this article design the arrangement of the GS+ according to the real AUV and USV reasonably.Thirdly, when using the MBES equipped on a ship to survey the submarine topography traditionally, the track can be changed in real time as required. But before the unmanned vehicle start the detect mission, the track should be panned in advance to make sure the vehicle can finish the task along the track designed autonomously. After integrating the detectivity of the GS+ and the sailing capability of the vehicle this article use the method of"line tracking" to displace the "point tracking" to meet the request of complete covering the designated detection zone.