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Mine avoidance techniques for
underwater vehicles
Hyland,
J.C. Taylor,
F.J.
Coastal
Syst. Station, Panama City, FL;
This paper appears in: Oceanic Engineering,
IEEE Journal of
On
page(s): 340-350
Volume:
18, Jul
1993
ISSN:
0364-9059
References
Cited: 13
CODEN:
IJOEDY
INSPEC Accession
Number: 4536846
Abstract:
It is shown that by implementing certain
mine avoidance techniques, an underwater vehicle equipped with
an obstacle avoidance sonar (OAS) and a navigation system can
safely navigate an unknown minefield. The mine avoidance
techniques take into account the physical limitations of the
sonar and the navigation system, the maneuverability
constraints on the underwater vehicle, and the required safe
standoff distance from all mines. Extensive computer
simulations have verified the mine avoidance capability in
more than 50 different minefields. In all 50 simulations the
vehicle reached a predetermined end point and maintained at
least the specified, minimum safe standoff distance from each
mine. The simulation accurately models the major difficulties
associated with the sonar, the navigation system, and the
vehicle dynamics. The sonar model includes surface, bottom,
and volume reverberation; thermal, ambient, and flow noises;
actual receiver and projector beam patterns; and false alarms
and missed detections. The navigation system model contains
the effects of biases, random noises, and scale factor errors.
The vehicle dynamic model simulates angular velocities and
accelerations associated with underwater vehicles
Index Terms:
acoustic signal
processing computerised
navigation digital
simulation military
computing military
systems mobile
robots random
noise sonar
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