Terrain-adaptive ping sequencing of uuv integrated multibeam echosounder and sidescan sonar systems

This paper presents an approach to the terrain-adaptive control of multiple acoustic sensors integrated onto an Unmanned Underwater Vehicle (UUV). In-mission processing and analysis of bathymetric data allows the system to synchronise the transmit-receive cycles of multiple sonar systems in a non-interfering fashion. By dynamically adapting the triggering of the payload sensors, the system optimises the execution of the seabed mapping survey and improves the quality of resulting data, thereby significantly increasing survey productivity. An examination of state-of-the-art in UUV control is examined in the context of sensor payload management.The system's features, design and implementation are presented, as well as a discussion and detailed analysis of at-sea trials.