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This document presents results from tests to demonstrate underwater mapping capabilities of an underwater vehicle in conditions typically found in marine renewable energy arrays. These tests were performed with a tethered Seabotix vLBV300 underwater vehicle. The vehicle is equipped with an inertial navigation system (INS) based on a Gladiator Landmark 40 IMU and Teledyne Explorer Doppler Velocity Log, as well as a Gemini 720i scanning sonar acquired from Tritech. The results presented include both indoor pool and offshore deployments. The indoor pool deployments were performed on October 7, 2016 and February 3, 2017 in Corvallis, OR. The offshore deployment was performed on April 20, 2016 off the coast of Newport, OR (44.678 degrees N, 124.109 degrees W). During the mission period, the sea state varied between 3 and 4, with an average significant wave height of 1.6 m. Data was recorded from both the INS and the sonar.

Resources

Format	Description	Link
57	Source code for 3D mapping in Matlab and C++	https://mhkdr.openei.org/files/221/code.zip
33	Technical Report summarizing 3D mapping results	https://mhkdr.openei.org/files/221/TechnicalReport.pdf
47	README for source code and data files	https://mhkdr.openei.org/files/221/README.txt
75	Data from offshore deployment mapping a sinker block off the coast of Newport, OR	https://mhkdr.openei.org/files/221/sinker_block_data.mat
75	Data from pool deployments in Corvallis, OR mapping known objects	https://mhkdr.openei.org/files/221/pool_data.mat

Underwater Mapping Results for Seabotix vLBV300 Vehicle with Tritech Gemini 720i Imaging Sonar near Newport, OR

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