自动表面船用于岛礁水深测绘

Bathymetry Mapping around Islands Using an Autonomous Surface Vehicle

岛礁具有重要的地位,然而对其附近水深的调查手段却不充分。比较了几种水深测绘手段的优缺点,设计了一种小型自动表面船用于岛礁水深测绘。该表面船底部安装声学测深仪,具备自动定位、导航与运动功能;其尾部安装两个电动推进器提供动力,通过独立控制两个推进器的转速,可实现船体的前进、后退和转向;利用无线电与岸基单元进行数据通讯。根据不同水深测绘条件,该船可以用三种控制方式进行水深测量:直接控制、间接控制和自主控制。测量数据实时传输到岸基单元,并自动存储于船载存储单元。初步试验结果表明,设计的自动表面船测量系统具有可行性。

Islands have an important significance, but the bathymetry mapping ways are insufficient. The different survey ways are compared and a bathymetry-data-collection system using a small autonomous surface vehicle （ASV） is designed. ASV is a small boat which has navigation, guidance and motion control subsystems. Two electronic thrusters are installed in the aft part and are used to control individually to run forward or back and turn round. The communication between ASV and onshore unit is wireless link. Three control modes are developed according to different bathymetry mapping conditions： direct control, indirect control and autonomous control. The sampling data is stored in the ASV and transferred to onshore unit real time. The test indicates that the proposed bathymetry mapping system have a good feasibility.