This paper presents a method for integrating data acquired by unmanned surface vehicles and unmanned aerial vehicles. The aim of this work was to create a uniform bathymetric surface extending to the shoreline. Such a body of water is usually characterized by ultra-shallow depths, which makes measurement impossible even with hydrographic autonomous vessels. Bathymetric data acquired by the photogrammetric method are, however, characterized by large errors with increasing depth. The presented method is based on processing of two data sets using a bathymetric reference surface and selection of points on the basis of generated masks. Numerical bathymetric models created by interpolation methods confirmed the usefulness of the concept adopted.

Target tracking is a process that provides information about targets in a specific area and is one of the key issues affecting the safety of any vehicle navigating in water. The main sensor used for underwater target tracking is sonar, with one of the most popular configurations being forward looking sonar (FLS). The target tracking state vector is usually estimated with the use of numerical filter algorithms, such as the Kalman filter (KF) and its modification, or the particle filter (PF). This requires the definition of a process model, including process noise, and a measurement model. This study focused on process noise definition. It is usually implemented as Gaussian noise, with a covariance matrix defined by the author. An analytical and empirical analysis was conducted, including a verification of the existing approaches and a survey of the published literature. Additionally, a theoretical analysis of the factors influencing process noise was conducted, which was followed by an empirical verification. The results were discussed, leading to the conclusions. The results of the theoretical analysis were confirmed by the empirical experiment and the results were compared with commonly used values of process noise in underwater target tracking processes.

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The research in this paper is concerned with the development of a continuous elevation model in the coastal zones of inland waters. The source data for the creation of numerical terrain models were data acquired by contemporary sensors, such as such as a single-beam echosounder and an unmanned aircraft system. Different interpolation methods were tested in the study. A new approach in the research field is an interpolation method based on the processing of datasets with different degrees of spatial data reduction. The authors call it the Spatial Interpolation Method based on Data Reduction (SIMDR). The choice of method is based on quantitative and qualitative analysis, taking into account the type of interpolation and the method of geodata reduction. A proposal for the practical implementation of the method involves script processing, which automates the processes of modeling and error calculation.

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