Development of an active SONAR platform for AUV applications in a closed environment

[摘要] ENGLISH ABSTRACT: In recent years Autonomous Underwater Vehicles (AUVs) have become interesting for harbor mapping and protection. AUVs require a SONAR sensor for observing their surroundings, thus enabling them to perform collision avoidance manoeuvres and scanning their operating environment for intruders or foreign objects, e.g. mines.To perform such actions the SONAR sensor is required to supply very fine range resolution for target imaging, as well as providing information about possible target velocity.Basic SONAR theory is discussed, as well as different approaches to signal design and processing techniques, for achieving the required resolution in range and target velocity. Two of the discussed approaches are selected for processing range and target velocity, respectively.Both approaches are simulated for their validity before being tested by using a custom-built platform. The platform is highly configurable and designed for capacity of testing a variety of SONAR signals and set ups. Furthermore, the platform is built by using off-the-shelf components to minimize development costs.The results of simulations and practical tests are presented. A high correlation between theory and practice is achieved.The knowledge and the platform presented form the stepping stone for further SONAR sensor developments.

[发布机构] Stellenbosch University