Preliminary Evaluation of the Laser Scalar Gradiometer For Buried Minehunting

Clem, T.R.; Davis, P.S.; McDonald, Robert J.; Overway, D.I.; Purpura, J.W.; Vaizer, L.; King, David A.

doi:10.1109/oceans.2005.1640045

Cited by 4 publications

(3 citation statements)

References 13 publications

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“…These passive sensors provide useful detection ranges and target localization for ferrous targets. Paralleling the development of sonar payloads and steady improvement in the sensitivity, size, and power consumption of magnetometers and gradiometers has allowed them to be incorporated into AUVs (Allen et al, 2005;Clem et al, 2005). Ongoing sensor research continues to advance the capabilities for large-area search.…”

Section: Auv Sensors For Localization Characterization and Monitoringmentioning

confidence: 99%

AUV Sensors for Real-Time Detection, Localization, Characterization, and Monitoring of Underwater Munitions

Camilli¹,

Bingham²,

Jakuba³

et al. 2009

mar technol soc j

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A B S T R A C TThis technical paper describes existing capabilities and new research results for autonomous underwater vehicles (AUVs) for use in locating, characterizing, and monitoring underwater munitions. The authors introduce advances in sensor technologies and search methods pertinent to AUV-based underwater munition mitigation operations. Results are presented from a series of trials using in situ chemical sensors to detect both conventional and nonconventional underwater munitions in real time. These technologies are considered within the context of chemical plume tracing and biomimetic search algorithms. This paper concludes with a look toward future AUV sensor payloads with more extensive real-time situation awareness. Advancement of these technologies and methods will be critical for realizing the potential of AUV platforms to manage the risks posed by underwater munitions sites.

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Section: Auv Sensors For Localization Characterization and Monitoringmentioning

confidence: 99%

AUV Sensors for Real-Time Detection, Localization, Characterization, and Monitoring of Underwater Munitions

Camilli¹,

Bingham²,

Jakuba³

et al. 2009

mar technol soc j

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“…Marine magnetometers have seen widespread use for geophysical studies, archeology, unexploded ordinance (UXO) and mine detection, and navigation. Although they are often deployed as ship‐towed instruments, some deployments have been have been conducted with a variety of AUVs, such as the REMUS 600 (Clem et al, 2005, 2006), Bluefin 12 (Kumar et al, 2005; Sulzberger et al, 2009), Iver2 (Graham Chandler, 2013), Gavia (Anon, 2018; Steigerwalt, 2015; Steigerwalt et al, 2012), Sentry (Dana & Kinsey, 2010), and the Autonomous Benthic Explorer (Shah et al, 2003; Tivey, Johnson, Bradley, & Yoerger, 1998). In several AUV deployments, the magnetometer package was towed to physically separate the sensor from the AUV (Anon, 2018; Graham Chandler, 2013; Teixeira, Quintas, & Pascoal, 2016).…”

Section: Introductionmentioning

confidence: 99%

Magnetic survey and autonomous target reacquisition with a scalar magnetometer on a small AUV

Gallimore

Terrill

Pietruszka

et al. 2020

Journal of Field Robotics

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A scalar magnetometer payload has been developed and integrated into a two‐man portable autonomous underwater vehicle (AUV) for geophysical and archeological surveys. The compact system collects data from a Geometrics microfabricated atomic magnetometer, a total‐field atomic magnetometer. Data from the sensor is both stored for post‐processing and made available to an onboard autonomy engine for real‐time sense and react behaviors. This system has been characterized both in controlled laboratory conditions and at sea to determine its performance limits. Methodologies for processing the magnetometer data to correct for interference and error introduced by the AUV platform were developed to improve sensing performance. When conducting seabed surveys, detection and characterization of targets of interest are performed in real‐time aboard the AUV. This system is used to drive both single‐ and multiple‐vehicle autonomous target reacquisition behaviors. The combination of on‐board target detection and autonomous reacquire capability is found to increase the effective survey coverage rate of the AUV‐based magnetic sensing system.

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“…The Office of Naval Research (ONR) is currently funding two magnetic sensor systems for the Buried Mine Hunting (BMH)program -the Real-time Tracking Gradiometer (RTG) from GE Infrastructure, Security (formerly know as Quantum Magnetics) [1], and Polatomic's Laser Scalar Gradiometer (LSG) which can be referenced in earlier papers [2][3][4]. As its name suggests, the purpose of this program is to develop the capability to detect mines buried in the sea bottom.…”

Section: Introductionmentioning

confidence: 99%

Demonstration of the Real-Time Tracking Gradiometer for Buried Mine Hunting While Operating From a Small Unmanned Underwater Vehicle

et al. 2006

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In many undersea conditions, optical sensors and sonar can be used to discriminate against sea mines. However, there are many conditions where these sensors are insufficient. For example, when a mine is fully buried these sensors are of little help. Under these conditions, additional sensor technologies are required. Since it is not affected by the medium, a technology of choice is magnetics.In the late 1990's a "T-shaped" gradiometer with a 12-inch baseline was developed. It became known as the RTG. Measurements performed in the nonmagnetic facility at the Naval Surface Warfare Center Panama City (NSWC-PC) demonstrated good localization capabilities and it was selected to become part of an ONR initiative to replace the human diver with Unmanned Underwater Vehicles (UUVs) using custom designed payload modules in high-risk mission areas. In the early 2000's the land-based RTG was refitted for underwater applications and integrated with the Florida Atlantic University's Buried Object Scanning Sonar (BOSS). Both were operated from a towed nonmagnetic sled where they demonstrated the ability to localize on buried undersea magnetic targets. The collection of simultaneous magnetic and acoustic data provided the opportunity to apply sensor fusion.While the towed nonmagnetic sled was an ideal magnetic platform, it was unsuited for the shallow water operations required by the Navy. In response to those requirements, both RTG and BOSS were redesigned to fit on newly developed UUVs, such as the 12.75"-diameter Bluefin 12. As expected the UUVs magnetic platform noise level was considerably higher due to the increased number of magnetic noise sources on an active autonomous vehicle and the closer placement of the RTG to these noise sources. To mitigate this increased noise, a magnetic noise cancellation system using magnetometers and current sensors, strategically placed within the control section of the UUV, was implemented.The initial underwater shake down of this entirely new system occurred in August 2005. This demonstrated, for the first time, autonomous control of the RTG by the Bluefin 12. Sea tests continued during 2006, collecting simultaneous data from the RTG, BOSS and a simple optical camera. These co-registered data have been used to demonstrate the common detection and localization of buried targets. This paper focuses on the 2006 sea testing of the system and the initial analysis of the data from the fluxgate-based RTG.

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Preliminary Evaluation of the Laser Scalar Gradiometer For Buried Minehunting

Cited by 4 publications

References 13 publications

AUV Sensors for Real-Time Detection, Localization, Characterization, and Monitoring of Underwater Munitions

AUV Sensors for Real-Time Detection, Localization, Characterization, and Monitoring of Underwater Munitions

Magnetic survey and autonomous target reacquisition with a scalar magnetometer on a small AUV

Demonstration of the Real-Time Tracking Gradiometer for Buried Mine Hunting While Operating From a Small Unmanned Underwater Vehicle

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