Design and Implementation of a Dual Uncrewed Surface Vessel Platform for Bathymetry Research under High-flow Conditions

摘要

Bathymetry, the study of underwater topography, relies on sonar mapping of submerged structures. These measurements, critical for infrastructure health monitoring, often require expensive instrumentation. The high financial risk associated with sensor damage or vessel loss creates a reluctance to deploy uncrewed surface vessels (USVs) for bathymetry. However, the crewed-boat bathymetry operations, are costly, pose hazards to personnel, and frequently fail to achieve the stable conditions necessary for bathymetry data collection, especially under high currents. Further research is essential to advance autonomous control, navigation, and data processing technologies, with a particular focus on bathymetry. There is a notable lack of accessible hardware platforms that allow for integrated research in both bathymetry-focused autonomous control and navigation, as well as data evaluation and processing. This paper addresses this gap through the design and implementation of two complementary USV systems tailored for uncrewed bathymetry research. This includes a low-cost USV for Navigation And Control research (NAC-USV) and a second, high-end USV equipped with a high-resolution multi-beam sonar and the associated hardware for Bathymetry data quality Evaluation and Post-processing research (BEP-USV). The NAC-USV facilitates the investigation of autonomous, fail-safe navigation and control, emphasizing the stability requirements for high-quality bathymetry data collection while minimizing the risk to equipment. The BEP-USV, which mirrors the NAC-USV hardware, is then used for additional control validation and in-depth exploration of bathymetry data evaluation and post-processing methodologies. We detail the design and implementation of both systems, and open source the design. Furthermore, we demonstrate the system's effectiveness in a range of operational scenarios.