SONAR DATA COLLECTION SYSTEM

• US 20120099399A1
• Filed: 10/25/2011
• Published: 04/26/2012
• Est. Priority Date: 10/25/2010
• Status: Active Grant

• Current Assignee: Lockheed Martin Corporation (Martin Marietta Corporation)
• Original Assignee: Lockheed Martin Corporation (Martin Marietta Corporation)
• Inventors: Lichter, Harry J., Tilton, Brian S., Garcia, Samuel
• Granted Patent: US 8,929,178 B2
• Time in Patent Office: Days
• US Class Current: 367/93
• CPC Class Codes: G01S 15/86 Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
• CPC Class Codes: G01S 15/87 Combinations of sonar systems
• CPC Class Codes: G01S 15/88 Sonar systems specially adapted for specific applications seismic or acoustic prospecting or detecting G01V1/00
• CPC Class Codes: G01S 15/89 for mapping or imaging
• CPC Class Codes: G01S 7/521 Constructional features

Abstract

A system that can be used for inspecting underwater structures. The system allows a user to gain a better understanding of the condition of an underwater structure. The system is a self-contained, modular system that can be operated by divers, coupled to an AUV, ROV or other host platform vehicle deployment platform, towed by a ship, pole mounted, or hull mounted. All of the components necessary to achieve the desired scanning functions are incorporated onto the self-contained, modular system. The system can include and fully utilize a 3D sonar system and an inertial navigation system. This combination of features permits the system to be used to, for example, generate 3D models of underwater structures, detect changes in underwater structures by comparing the generated 3D model against an a priori 3D model, and provide navigational updates to the host platform based on the observed features of an underwater structure.

Claims

1. A self-contained system for scanning underwater structures, comprising:

a support structure;

a 3D sonar mounted on the support structure;

an inertial navigation system mounted on the support structure; and

an electronics pressure vessel mounted on the support structure;

the electronics pressure vessel including a data processor and a non-volatile storage device, and the 3D sonar and the inertial navigation system are electrically connected to the electronics pressure vessel.

2. The self-contained system of claim 1, further comprising a second sonar mounted on the support structure and electrically connected to the electronics pressure vessel, the second sonar having a different frequency than the 3D sonar.

3. The self-contained system of claim 2, further comprising a doppler velocity log mounted on the support structure and electrically connected to the electronics pressure vessel.

4. The self-contained system of claim 3, further comprising a CTD sensor, a camera, a GPS system, at least one rechargeable battery and a light, each of which is mounted on the support structure.

5. The self-contained system of claim 1, wherein the electronics pressure vessel comprises a plurality of the data processors and at least one of the non-volatile storage devices for each of the data processors.

6. The self-contained system of claim 4, wherein the 3D sonar, the camera and the light each point in the same direction toward a side of the support structure, and the doppler velocity log points downward from the support structure.

7. A modular package for use in scanning underwater structures, comprising:

a modular support frame;

a 3D sonar mounted on the modular support frame;

an inertial navigation system mounted on the modular support frame; and

a pressure vessel mounted on the modular support frame;

the pressure vessel including a data processor and a non-volatile storage device, and the 3D sonar and the inertial navigation system are electrically connected to the pressure vessel.

8. The modular package of claim 7, wherein the modular support frame is configured for attachment to an underwater vehicle.

9. The modular package of claim 8, wherein the underwater vehicle comprises an ROV or an AUV.

10. The modular package of claim 7, further comprising a second sonar mounted on the modular support frame and electrically connected to the pressure vessel, the second sonar having a different frequency than the 3D sonar.

11. The modular package of claim 10, further comprising a doppler velocity log mounted on the modular support frame and electrically connected to the pressure vessel.

12. The modular package of claim 11, further comprising a CTD sensor, a camera, a GPS system, at least one rechargeable battery and a light, each of which is mounted on the modular support frame.

13. The modular package of claim 7, wherein the pressure vessel comprises a plurality of the data processors and at least one of the non-volatile storage devices for each of the data processors.

14. The modular package of claim 7, further comprising adjustable support feet at a base end of the modular support frame.

15. The modular package of claim 7, wherein the data processor is configured to perform one or more of 3D mapping of an underwater structure, change detection of an underwater structure, or navigation relative to an underwater structure.

16. The modular package of claim 12, wherein the 3D sonar, the camera and the light each point in the same direction toward a side of the modular support frame, and the doppler velocity log points downward from the modular support frame.