Methodology for Processing of 3D Multibeam Sonar Big Data for Comparative Navigation

Stateczny, Andrzej; Błaszczak-Bąk, Wioleta; Sobieraj-Żłobińska, Anna; Motyl, Weronika; Wiśniewska, Marta

doi:10.3390/rs11192245

Cited by 28 publications

(19 citation statements)

References 48 publications

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“…According to [1], AUVs have the potential to revolutionize human underwater activities and the improvement of their navigation is one of the primary challenges in AUV research today. Similar conclusions were attained by [2], where underwater sensors were found to be an obvious source of information for the navigation of autonomous surface vehicles (ASV), expanding the use of sonar for navigation purposes. Target tracking plays an important role in the safe navigation of autonomous vehicles.…”

Section: Introductionsupporting

confidence: 62%

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Determination of Process Noise for Underwater Target Tracking with Forward Looking Sonar

Kazimierski¹,

Zaniewicz²

2021

Remote Sensing

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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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Section: Introductionsupporting

confidence: 62%

“…Basic models of the target tracking process have already been presented in Equations (1) and (2). Tracking, at this stage, means an estimation of an object's movement parameters or more precisely an estimation of the state vector, based on updated measurements.…”

Section: Target Tracking In Sonar Anti-collisionmentioning

confidence: 99%

Determination of Process Noise for Underwater Target Tracking with Forward Looking Sonar

Kazimierski¹,

Zaniewicz²

2021

Remote Sensing

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“…Those that use images to detect the type of ship, including Synthetic Aperture Radar (SAR) [ 26 , 27 ] or photographs [ 28 ], use a different approach based on analysis of the pixels of static images. Comparative (terrain reference) navigation represents an approach similar to the use of images to explore the environment, although it does not require a satellite; in [ 29 ] the use of 3D multibeam sonar data is explored. Other approaches use sensor trajectories, such as AIS or RADAR.…”

Section: Related Workmentioning

confidence: 99%

Architecture for Trajectory-Based Fishing Ship Classification with AIS Data

Pedroche

Amigo

García

et al. 2020

Sensors

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This paper proposes a data preparation process for managing real-world kinematic data and detecting fishing vessels. The solution is a binary classification that classifies ship trajectories into either fishing or non-fishing ships. The data used are characterized by the typical problems found in classic data mining applications using real-world data, such as noise and inconsistencies. The two classes are also clearly unbalanced in the data, a problem which is addressed using algorithms that resample the instances. For classification, a series of features are extracted from spatiotemporal data that represent the trajectories of the ships, available from sequences of Automatic Identification System (AIS) reports. These features are proposed for the modelling of ship behavior but, because they do not contain context-related information, the classification can be applied in other scenarios. Experimentation shows that the proposed data preparation process is useful for the presented classification problem. In addition, positive results are obtained using minimal information.

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“…Today, the MBES are widely used in marine geological and oceanographic surveys [27][28][29], in the offshore industry, and in underwater pipeline-laying operations [30][31][32]. Very often measurement data sets are so large that scientists have made efforts to develop 3D measurement point reduction methods [33,34]. MBES systems also enable recording of acoustic images of the seabed by recording the strength of the backscattering signal.…”

Section: Acoustic Systems For Imaging Of Seabed and Underwater Objectsmentioning

confidence: 99%

Results from Developments in the Use of a Scanning Sonar to Support Diving Operations from a Rescue Ship

Grządziel

2020

Remote Sensing

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In recent years, widespread use of scanning sonars for acoustic imaging of the seabed surface can be observed. These types of sonars are mainly used with tripods or special booms, or are mounted onboard remotely operated or unmanned vehicles. Typical scanning sonar applications include search and recovery operations, imaging of underwater infrastructure, and scour monitoring. The use of these sonars is often limited to shallow waters. Diver teams or underwater remotely operated vehicles (ROV) are commonly used to inspect shipwrecks, port wharfs, and ship hulls. However, reduced underwater visibility, submerged debris, and extreme water depths can limit divers’ capabilities. In this paper, a novel, nonstandard technique for use of a scanning sonar is proposed. The new application for scanning sonar technology is a practical solution developed on the Polish Navy’s search and rescue ship “Lech.” To verify the effectiveness of the proposed technique, the author took part in four different studies carried out in the southeastern Baltic Sea. The tests were performed using the MS 1000 scanning sonar. The results demonstrate that the proposed technique has the potential to provide detailed sonar images of the seabed and underwater objects before the descent of divers. The divers get acquainted with the underwater situation, which undoubtedly increases the safety of the entire operation. Scanning sonars are unlikely to completely replace the work of divers but may reduce the number and duration of dives. The sonar use technique turned out to be useful when rescuing a crew of a submarine that crashed and settled on the sea bottom as part of a naval exercise. The sonar data obtained during four experimental tests performed in the Baltic Sea prove the validity, usefulness, and significance of the proposed technique, especially from the standpoint of safety of underwater work.

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Methodology for Processing of 3D Multibeam Sonar Big Data for Comparative Navigation

Cited by 28 publications

References 48 publications

Determination of Process Noise for Underwater Target Tracking with Forward Looking Sonar

Determination of Process Noise for Underwater Target Tracking with Forward Looking Sonar

Architecture for Trajectory-Based Fishing Ship Classification with AIS Data

Results from Developments in the Use of a Scanning Sonar to Support Diving Operations from a Rescue Ship

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