www.sea-technology.com November 2015 / st 17
A
UV Hydrographic Bootcamp, a bian-
nual, week-long event co-hosted by
the University of New Hampshire (UNH)
and the University of Delaware, was held
in August 2014 at UNH's marine facil-
ity in New Castle, New Hampshire. The
event provides participants an opportunity
to scrutinize the details of AUV mission
planning, operations and data process-
ing. NOAA's Hydroid REMUS® 600 AUV,
equipped with a Kongsberg EM 3002 mul-
tibeam echosounder (MBES), was oper-
ated three days during the event, allowing
participants to plan and execute missions
and analyze AUV-acquired, shallow-water
MBES data.
This article provides an overview of the
AUV system and summarizes the methods
used for AUV-acquired bathymetry data.
One of the AUV data sets is junctioned
with a reference bathymetry surface previ-
ously acquired from a surface platform, there-
by providing an opportunity to quantitatively
assess the AUV-acquired bathymetry data.
The AUV navigation data were processed
in real time on board the vehicle using the
Kongsberg Maritime (KM) inertial navigation
system (INS) named NavP and was further en-
hanced in post-processing using the KM soft-
ware named NavLab. Workshop participants
worked with the navigation data and the
MBES data using a wide variety of software
AUV-Acquired
Bathymetry, Methods
Scrutinizing AUV Mission Planning, Operations and Data Processing
By Shannon Byrne • Val Schmidt • Dr. Øyvind Hegrenæs
(Top) Estimated real-time THU, with AUV sub-
merged with DVL-bounded inertial positioning.
The horizontal position uncertainty is treated
as having a circular distribution and is scaled to
95 percent confdence level (CL). (Bottom) THU
and TVU values for beam number 15 (port side,
60° from vertical).