Compact, Light Weight, Low Cost, Precision, Non-inertial Underwater Navigation Sensor

Significant resources are required to ensure proper self-localization of submersibles without available reference signals such as GPS or LBL. This is compounded, when the vehicle remains submerged for extended periods of time which is often required for reconnaissance missions. In the case of a miniature autonomous underwater vehicle (AUV), the self-localization challenge extends well beyond INS filtering. Although, position and velocity sensor systems (DVLs) have been successfully designed for large and medium scale submarines, the miniaturization of those sensor components still poses a significant challenge. To close this technological gap, the NextGen team proposes the development of a sonar-based miniature odometer for underwater applications that aims to challenge the weight, size, cost as well as performance specifications outlined in the solicitation. The proposed solution will combine advanced sonar technology with software modules capable of deducing the vehicle kinematics, i.e. position and velocity, in real time. The NextGen, Lockheed Martin and Virginia Tech team combines year-long expertise in i) sensor calibration and underwater navigation, ii) system integration, and iii) image processing and state estimation. Sensor performance will be demonstrated by the end of Phase I. In Phase II, the team plans to integrate the sensor into Lockheed Martin"s Marlin AUV.