TRACKING AND MAPPING SYSTEM FOR AN UNDERWATER VEHICLE IN REAL POSITION USING SONAR SYSTEM

Ali Jebelli,∗ Hicham Chaoui,∗ Arezoo Mahabadi,∗∗ and Balbir Dhillon∗∗∗

Keywords

Autonomous underwater vehicles (AUV), sonar system, mini-PC,MATLAB

Abstract

The purpose of this research is to propose a tracking and mapping system of an autonomous underwater vehicle (AUV) using a high operating frequency sonar, which provides the ability to track obstacles and predict pathways for the intelligent system. In this paper, the active sonar equation is used to calculate the effective parameters in the real-time environment and conditions such as salinity, temperature, depth, pH, and noise. In this research, the operating frequency of the transducer is 200 kHz and the channel depth is as much as 200 m. The multi-beam effect and the Doppler effect on the omnidirectional transducer are well demonstrated in the results and tests. All of these results are implemented and tested in an AUV processed by a high-speed mini-PC. Results show that the secondary echoes of the object under real-time environmental conditions could be more powerful than the primary echoes (direct echoes) because the object has different target strengths at different angles. In addition, the relative velocity between the object and the transducer affects the appearance and size of the reflected echo and causes error. As the relative speed increases, the pulse length becomes larger and the amplitude of the wave increases.

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