Using Multiple Three Dimensional Sonars and Mosaic Imaging for Mine Detection and Classification and

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Using Multiple Three Dimensional Sonars and
Mosaic Imaging for Mine Detection and
Classification and for Port and Harbor
Surveillance
William R. Woodward, P. E., UrsaNav Richard Webb,
UrsaNav Rolf Kahrs Hansen, CodaOctopus Blair
Cunningham, CodaOctopus
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Presentation Objective

• Introduce the audience to the efforts within
  UrsaNav and CodaOctopus to develop a
  high-resolution 3D sonar system to replace the
  AN/SQQ-32 on the Osprey Class (ex-MHC-51) Costal
  Mine Hunters.

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Introduction

• Since the introduction of the AN/SQQ-32 there
  have been many advances in
• Sonar technology
• Digital signal processing

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Resolution Improvement
AN/SQQ-32 Object Image
TODAY
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3D Sonar Photos
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How 3D Sonar Works
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Echoscope 3D Sonar in Action
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Unique Capabilities

• Echoscope 3D sonar has the ability to
• Locate and look through nets
• Locate and look through fences
• Look behind pilings
• See divers
• See dolphins

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Looking Behind Pilings
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Detecting Divers
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Detecting Dolphins
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Detecting Dolphins
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Dimensions and Location

• Echoscope provides accurate dimensions of the
  object of interest.
• Echoscope provides an accurate global position of
  the object of interest in real time.

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Measuring and Locating Objects
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INS Interface

• To achieve precise object location the Echoscope
  receives real time position and attitude data
  from the UN-239 inertial navigation system (INS).

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UN-239

• The UN-239 is designed around Kearfotts
  Monolithic Ring Laser Gyro (MRLG) INS

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Kearfotts MRLG
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Mosaic Imaging

• NASA uses mosaic imaging to create images of the
  Milky Way, the surface of Mars, and many other
  things.

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Milky Way Mosaic Image
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Mars Surface Mosaic Image
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Mosaic Imaging with Sonar

• What happens when the mosaic imaging techniques
  NASA employs with a camera are applied to 3D
  Echoscope sonar images?

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3D Sonar Mosaic Imaging Video
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AN/SQQ-32

• The AN/SQQ-32 is a cable deployed sonar.
• It requires a 50 horsepower winch.
• Submerged objects can damage the sonar.

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AN/SQQ-32

• The location of the AN/SQQ-32 is never truly
  known.
• The time required to search an area is limited by
  the sonars ability to collect and process
  acoustic data.

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Multiple Fixed 3D Sonar's
Forward Looking Echoscope
Upper Starboard Echoscope
Lower Starboard Echoscope
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50 Forward Vertical Search Area
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90 Forward Horizontal Search Area
10 Overlap
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Side and Down Looking 3D Sonar's
Waterline
Waterline
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Side Down Looking Vertical Search Area
180 Coverage
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Side and Down Looking Horizontal Search Area
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360 Mosaic Imaging

• Mosaic imaging combines the six Echoscope images.
• As the ship moves forward, a 360 image mosaic is
  created.

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Mosaic Imaging Computer

• All signal processing in done in the Echoscope.
• The Echoscope outputs streaming 3D images.
• A COTS PC with a fast video card and navigational
  inputs can perform the mosaic imaging.

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Transmitting Images

• An Echoscope image can be transmitted over an RF
  link for analysis
• Real time Echoscope images can be transferred
  over a high-speed RF link.

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Search Speed

• The Echoscope does not need to be moving to
  produce 3D images.
• The Echoscope can operate at speeds up to 10
  knots for rapid harbor surveillance.

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Search Vessel

• The Echoscope can be used with a small boat .
• The Echoscope is portable.

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