Multibeam, Bathymetry, and AUV Side Scan Sonar
Multibeam, Bathymetry, and AUV Side Scan Sonar
Multibeam, Bathymetry, and AUV Side Scan Sonar
Create successful ePaper yourself
Turn your PDF publications into a flip-book with our unique Google optimized e-Paper software.
Marine & Power<br />
Systems Group<br />
New Product Developments:<br />
<strong>Multibeam</strong>, <strong>Bathymetry</strong>, <strong>and</strong><br />
<strong>AUV</strong> <strong>Side</strong> <strong>Scan</strong> <strong>Sonar</strong><br />
Advances in Seafloor Mapping<br />
Timothy J. Alavosus, Ph.D.<br />
Director of Sales <strong>and</strong> Marketing<br />
<strong>Sonar</strong> Products<br />
L-3 Klein Associates
Marine & Power<br />
Systems Group<br />
<strong>Side</strong> <strong>Scan</strong> <strong>Sonar</strong> Offerings<br />
S3900<br />
Sub-Bottom Profiler<br />
S3000<br />
S5000 V2<br />
BATHY<br />
S5900
Marine & Power<br />
Systems Group<br />
System 3900
Marine & Power<br />
Systems Group<br />
System 3900<br />
Klein System 3900<br />
• Our most popular<br />
system, ever (units).<br />
Technology<br />
Frequency<br />
Beam Width, Hor.<br />
(Along Track Res)<br />
Across Track Res.<br />
Single Beam<br />
445 kHz & 900 kHz<br />
Selectable<br />
0.21 deg at 445 kHz<br />
0.21 deg at 900 kHz<br />
7.5 cm<br />
Tow Speed<br />
Depth Rating<br />
4 to 5 knots<br />
200m<br />
Max Range 150m at 445 kHz (300m<br />
swath)<br />
75m at 900 kHz (150m<br />
swath)
Marine & Power<br />
Systems Group<br />
System 3900<br />
Product Overview:<br />
• Dual Frequency, 445 kHz <strong>and</strong> 900 kHz<br />
• 300m Swath at 445 kHz; 150m Swath at 900 kHz*<br />
• Splashproof TPU<br />
• 200m depth rating<br />
• Low-Cost, High Performance – a True Klein<br />
System, not a cheap imitation<br />
*In cold water, under ideal conditions
Marine & Power<br />
Systems Group<br />
System 3900<br />
Product Overview:<br />
• Good resolution at 445 kHz:<br />
The wreck of the Bungsberg
Marine & Power<br />
Systems Group<br />
System 3900<br />
Product Overview:<br />
• Excellent Resolution at 900 kHz:<br />
Lobster Pots<br />
With Lines
Marine & Power<br />
Systems Group<br />
System 3900<br />
Target Markets:<br />
• Search <strong>and</strong> Recovery<br />
• Police, Fire, Harbor Patrol<br />
• MCM<br />
• Harbor Change Detection<br />
• Treasure Hunters<br />
• Anti-Terrorism Force Protection<br />
• All Shallow-Water Applications (
Marine & Power<br />
Systems Group<br />
Klein 3900 Data Sample<br />
S<strong>and</strong><br />
Waves<br />
Lobster Pots
Marine & Power<br />
Systems Group<br />
System 3000
Marine & Power<br />
Systems Group<br />
System 3000<br />
Klein System 3000<br />
• Our deepwater system<br />
• Now 3000m rated<br />
• The most versatile system<br />
from Klein
Marine & Power<br />
Systems Group<br />
System 3000<br />
Technology<br />
Frequency<br />
Beam Width, Hor.<br />
(Along Track Res)<br />
Across Track Res.<br />
Single Beam<br />
100 kHz & 445 kHz<br />
Simultaneous<br />
0.7 deg at 100 kHz<br />
0.21 deg at 445 kHz<br />
7.5 cm<br />
Tow Speed<br />
4 to 5 Knots<br />
Depth Rating 1,500m<br />
Max Range<br />
600m at 100 kHz<br />
150m at 445 kHz
Marine & Power<br />
Systems Group<br />
System 3000<br />
Product Overview:<br />
• 100 kHz/445 kHz is a better mix for simultaneous<br />
dual frequency:<br />
445 kHz<br />
100 kHz<br />
L-3 Klein <strong>Sonar</strong> Annual Sales Meeting 2009 –Company Confidential
Marine & Power<br />
Systems Group<br />
System 3000<br />
Target Markets:<br />
• Deeper Water<br />
• Magnetometer<br />
• SBP<br />
• Offshore Oil<br />
• Submarine SAR<br />
• Geologic<br />
• Hydrographic<br />
• Everyone<br />
1940 wreck of a German<br />
Dornier Do17 bomber which<br />
ditched at the Goodwin S<strong>and</strong>s.
Marine & Power<br />
Systems Group<br />
System 3000<br />
Accessories:<br />
• Pressure Sensor<br />
• K-Grip<br />
• DGPS<br />
• K-Wing I, II<br />
• Winches<br />
• Magnetometer<br />
• SBP<br />
• USBL
Marine & Power<br />
Systems Group<br />
System 3000D
Marine & Power<br />
Systems Group<br />
System 3000 Deep<br />
Technology<br />
Frequency<br />
Beam Width, Hor.<br />
(Along Track Res)<br />
Across Track Res.<br />
Tow Speed<br />
Depth Rating<br />
Max Range<br />
Single Beam<br />
100 kHz & 445 kHz<br />
Simultaneous<br />
0.7 deg at 100 kHz<br />
0.21 deg at 445 kHz<br />
7.5 cm<br />
4 to 5 knots<br />
3000m<br />
600m at 100 kHz<br />
150m at 445 kHz
Marine & Power<br />
Systems Group<br />
System 5000
Marine & Power<br />
Systems Group<br />
System 5000 Multi-Beam<br />
Army/Navy Nomenclature<br />
AN/SQH-4B<br />
Technology<br />
Frequency<br />
Along Track Res<br />
Across Track Res<br />
Tow Speed<br />
Depth Rating<br />
Max Range<br />
Multi-beam<br />
5 Beams per side<br />
455 kHz<br />
20 cm to 75m<br />
36 cm to 150m<br />
3.75 cm<br />
2 to 10 knots<br />
200m<br />
150m/side
Marine & Power<br />
Systems Group<br />
System 5000 V2<br />
With Interferometric<br />
<strong>Bathymetry</strong>
Marine & Power<br />
Systems Group<br />
System 5000 V2 Multi-Beam<br />
Reconnaissance Mode Extended Range<br />
Technology<br />
Frequency<br />
Along Track Res<br />
Across Track Res<br />
Tow Speed<br />
Depth Rating<br />
Max Range<br />
Multi-beam<br />
5 Beams/side<br />
FM Chirp<br />
455 kHz<br />
10 cm to 38m<br />
20 cm at 75m<br />
36 cm at 150m<br />
50 cm at 250m<br />
3.75 cm<br />
2 to 10 Knots<br />
200m/500m<br />
250m/side
Marine & Power<br />
Systems Group<br />
System 5000 v2 with<br />
Interferometric <strong>Bathymetry</strong><br />
Chirp <strong>Multibeam</strong> <strong>Side</strong> <strong>Scan</strong> + Interferometric<br />
<strong>Bathymetry</strong>:<br />
- Full side scan coverage to 10 knots<br />
<strong>AUV</strong>, Towed or Vessel Mount Configurations:<br />
- Vessel or Pole mount best for hydrographic survey<br />
- Topography augments side scan in towed operation<br />
<strong>AUV</strong> 5000 v2 BATHY 5000 v2 BATHY Pole-Mount <strong>AUV</strong> 5000 v2 Towfish
Marine & Power<br />
Systems Group<br />
Note<br />
Contrast<br />
(see next slide)<br />
S5000 MKI - Range = 150m
Marine & Power<br />
Systems Group<br />
Note better<br />
contrast vs. V1<br />
S5000 V2 - Range = 150m
Marine & Power<br />
Systems Group<br />
System 5000 V2 <strong>Sonar</strong> Data<br />
Range 150m, Speed 7.5 Knots
Marine & Power<br />
Systems Group<br />
S5000 V2:<br />
-Range = 250m<br />
-Water depth (total) = 21m<br />
Lobster Pot @ ~240m<br />
(see next slide for Target)
Marine & Power<br />
Systems Group<br />
Lobster Pot Target @ ~240m
Marine & Power<br />
Systems Group<br />
S5000 V2:<br />
- Range = 250m<br />
- Water depth (total) = 21m<br />
String of Lobster Pots
Marine & Power<br />
Systems Group<br />
Klein S5000 V2 Time Synchronization<br />
• Time synchronization of sonar, motion <strong>and</strong><br />
navigation data is critical to producing<br />
accurate hydrographic data<br />
• Hardware in TPU used to precisely<br />
synchronize time tagging of<br />
sonar/sensor/navigation data to 1PPS pulse<br />
from navigation system (or external time<br />
reference)<br />
• Some motion sensors provide time tagged<br />
data referenced to GPS time<br />
• Resultant timing errors < 50 microseconds
Marine & Power<br />
Systems Group<br />
<strong>Sonar</strong>Pro ®<br />
• <strong>Sonar</strong>Pro® Workstation provides:<br />
- operator interface<br />
- survey planning<br />
- data visualization & quality control<br />
- target management<br />
- data recording & playback<br />
• <strong>Sonar</strong>Pro® also performs the side scan <strong>and</strong> bathymetry data processing.<br />
Data can be logged in SDF, GSF or XYZ format<br />
• In addition to processed data, raw stave data can be logged together with all<br />
motion, navigation, <strong>and</strong> heading <strong>and</strong> sound speed data. This permits<br />
reprocessing of both side scan <strong>and</strong> bathymetry data in a post processing<br />
environment
Marine & Power<br />
Systems Group<br />
Klein S5000 V2 BATHY Bow Mount<br />
UNH R/V Coastal Surveyor<br />
• Bow mounted underwater<br />
component<br />
• Applied Microsystems Micro<br />
SV® array sound speed probe<br />
• Applanix POS/MV® combined<br />
GPS navigation, motion <strong>and</strong><br />
heading<br />
• ODOM Digibar Pro® sound<br />
speed profiler
Marine & Power<br />
Systems Group<br />
Klein S5000 V2 BATHY Test Area<br />
Portsmouth Harbor<br />
Survey<br />
• 1500 x 600 meter area<br />
• Speed 5 – 6 knots<br />
• Calm sea, low tide<br />
• 7 north – south lines<br />
• Focused on s<strong>and</strong>y area<br />
northeast<br />
• Depth 10 – 25 meters
Marine & Power<br />
Systems Group<br />
Data Collection <strong>and</strong> Processing<br />
• Both SDF range / angle <strong>and</strong> raw<br />
(complex stave) data were<br />
collected<br />
• Range / angle (roll stabilized),<br />
motion <strong>and</strong> sound speed<br />
profile data were processed<br />
using Hypack® 9.0 software<br />
• Line spacing was set to range<br />
scale (75 m) to facilitate<br />
viewing nadir area <strong>and</strong> provide<br />
complete overlap of adjacent<br />
swath data
Marine & Power<br />
Systems Group<br />
Data Collection <strong>and</strong> Processing<br />
• Data in image was cut <strong>and</strong><br />
joined to show good agreement<br />
in data both in depth <strong>and</strong><br />
position<br />
• S<strong>and</strong> waves 40 to 120 cm. high<br />
• Spot check of grid cells to<br />
either side of cut were within 20<br />
cm of each other<br />
S<strong>and</strong> waves between lines<br />
2 <strong>and</strong> 3<br />
0.5 x 0.5 meter grid
Marine & Power<br />
Systems Group<br />
Klein S5000 V2 BATHY XYZ Data<br />
Data from lines 2 – 4<br />
• Inner regions cut <strong>and</strong> joined<br />
• Outer regions single swaths<br />
• S<strong>and</strong> waves at left can be seen to<br />
edge, although noise is increasing<br />
• Feature at lower left is about 1 meter<br />
high by 10 meters across<br />
• Upper right region used for depth<br />
variation analysis<br />
There is intentionally a Nadir Gap in this<br />
image, for our testing purposes.<br />
Marine & Power<br />
Systems Group<br />
Summary BATHY Conclusion<br />
• The Klein S5000 V2 System is a<br />
hydrographic survey system which<br />
has the ability to simultaneously<br />
collect IHO quality swath bathymetry<br />
<strong>and</strong> high resolution multi-beam side<br />
scan sonar data in a fully corrected<br />
<strong>and</strong> geo-referenced data set<br />
• System demonstrated to meet IHO,<br />
Order 1 requirements up to 12X water<br />
depth<br />
• The dual functionality of the Klein<br />
S5000 V2 effectively allows two<br />
surveys to be accomplished in one<br />
pass saving significant ship time <strong>and</strong><br />
expense<br />
<strong>AUV</strong> 5000 PIPE INSPECTION SURVEY<br />
Image courtesy of SHOM, GESMA & ECA
Marine & Power<br />
Systems Group<br />
System 5000 Hull Mount<br />
Hull Mounted S5000 on<br />
NOAA Launch
Marine & Power<br />
Systems Group<br />
System 5900
Marine & Power<br />
Systems Group<br />
System 5900<br />
Technology<br />
Frequency<br />
Along Track Res<br />
Across Track Res<br />
Tow Speed<br />
Depth Rating<br />
Max Range<br />
3D Bathymetric<br />
Gap Filler<br />
Multi-beam<br />
FM Chirp<br />
600 kHz<br />
7.5 cm to 50m<br />
15 cm at 100m<br />
25 cm at 125m<br />
3.75 cm<br />
2 to 12 Knots<br />
200m/500m<br />
125m/side<br />
Optional<br />
Optional
Marine & Power<br />
Systems Group<br />
System 5900<br />
• <strong>Multibeam</strong> SSS<br />
• Interferometric <strong>Bathymetry</strong> Option<br />
• Gap Filler <strong>Sonar</strong> Option<br />
• Motion Sensor<br />
• Pressure Sensor<br />
• Controllable Depressor Wing<br />
• Other Options:<br />
• Magnetometer<br />
• Transponder
Marine & Power<br />
Systems Group<br />
Klein Interferometric <strong>Bathymetry</strong>
Marine & Power<br />
Systems Group<br />
Klein Interferometric <strong>Bathymetry</strong>
Marine & Power<br />
Systems Group<br />
Klein <strong>Sonar</strong> for<br />
<strong>AUV</strong>/ROV
Marine & Power<br />
Systems Group<br />
<strong>AUV</strong> 3000
Marine & Power<br />
Systems Group<br />
<strong>AUV</strong> 3000<br />
• Dual frequency, simultaneous operation<br />
• Choice of any combination of two<br />
center frequencies<br />
• 300, 450, 600, 900 <strong>and</strong> 1800 kHz<br />
• Performance similar to the single beam<br />
(dual frequency) S3000 side scan sonar
Marine & Power<br />
Systems Group<br />
<strong>AUV</strong> 3000<br />
• Specifically designed for the <strong>AUV</strong> market<br />
• Compact/small physical footprint<br />
• Low power consumption<br />
• Suitable for operation in noisy integration<br />
environments<br />
• Modular components (<strong>and</strong> interfaces) for<br />
ease of integration in a variety of vehicles
Marine & Power<br />
Systems Group<br />
<strong>AUV</strong> 3000 SSS Specifications,<br />
450/900 kHz<br />
Center freq<br />
Tx-signal<br />
Tx-power (peak)<br />
Tx-pulse length<br />
Tx-b<strong>and</strong>width<br />
Min/Max operating range<br />
PRF Max/Min<br />
Output sample rate<br />
450 & 900 kHz<br />
FM-Chirp<br />
25 W/side/Freq<br />
2-4 msec<br />
120 kHz (900 kHz),<br />
45 kHz (450 kHz)<br />
12.5/300 m<br />
60/2.5 Hz<br />
20 kHz nominal
Marine & Power<br />
Systems Group<br />
<strong>AUV</strong> 3000 Data Retrieval<br />
After the <strong>AUV</strong> is retrieved, the data is downloaded via<br />
the Ethernet/LAN or USB to a User PC running Klein<br />
<strong>Sonar</strong>Pro as a viewing application.<br />
Alternately, the data may be imported via Ethernet or<br />
local mass storage device directly into the <strong>AUV</strong><br />
operating software<br />
Onboard SSS processing possible allows for<br />
integration with CAD/CAC software
Marine & Power<br />
Systems Group<br />
<strong>AUV</strong> 3000 Specifications<br />
• Input Voltage: 22 to 32 VDC<br />
• Power Consumption<br />
– Simultaneous Dual Freq SSS: ~ 18 W nominal<br />
– Single Freq SSS : ~ 12 W nominal<br />
– Selectable Dual Freq w/ Bathy : ~ 36 W nominal<br />
– Selectable Dual Freq w/ SBP : TBA<br />
• Size<br />
– Designed to fit inside a 5” vehicle
Marine & Power<br />
Systems Group<br />
System 5000<br />
<strong>AUV</strong>
Marine & Power<br />
Systems Group<br />
System <strong>AUV</strong> 5000 Payload<br />
Technology<br />
Frequency<br />
Along Track Res<br />
Across Track Res<br />
<strong>AUV</strong> Speed<br />
Depth Rating<br />
Max Range<br />
Multi-beam<br />
5 Beams/side<br />
455 kHz<br />
20 cm at 75m<br />
36 cm at 150m<br />
3.75 cm<br />
2 to10 Knots<br />
200m<br />
150m/side<br />
Bluefin Robotics BP<strong>AUV</strong>s
Marine & Power<br />
Systems Group<br />
System <strong>AUV</strong> 5000 V2 Payload<br />
Technology<br />
Frequency<br />
Along Track Res<br />
Across Track Res<br />
<strong>AUV</strong> Speed<br />
Depth Rating<br />
Max Range<br />
Multi-beam<br />
5 Beams/side<br />
FM Chirp<br />
455 kHz<br />
10 cm to 38m<br />
20 cm at 75m<br />
36 cm at 150m<br />
50 cm at 250m<br />
3.75 cm<br />
2 to10 Knots<br />
500m<br />
250m/side
Marine & Power<br />
Systems Group<br />
<strong>Side</strong>scan Array
Marine & Power<br />
Systems Group<br />
5000 v2 Array - Section<br />
Transmit Array<br />
Receive Array
Marine & Power<br />
Systems Group<br />
<strong>AUV</strong> 5000 Mk1 Performance<br />
Resolution<br />
• 10 cm to 37.5 m range or<br />
• 20 cm to 75 m range <strong>and</strong><br />
• 0.14 deg 75 m to 150 m range (36 cm at<br />
150 m)<br />
Power Consumption<br />
• 150 w (approximate)<br />
Beam Forming<br />
• DSP Platform
Marine & Power<br />
Systems Group<br />
<strong>AUV</strong> 5000 V2 Performance<br />
<br />
<br />
<br />
<br />
Longer Range<br />
– 250m (each, P/S = 500 m swath) in extended mode; clearly<br />
identifies objects as small as a lobster pot at >240m<br />
Higher Resolution<br />
– Two-mode simultaneous operation (available because of<br />
recording of raw data)<br />
• 10 cm to 37.5 m range<br />
• 20 cm to 75 m range<br />
• 36 cm to 150 m range<br />
• 50 cm to 150 m – 250 m<br />
Lower Power Consumption<br />
– 85W (nominal); almost half of 5000 Mk1<br />
Data Storage<br />
– Storage of Raw Data for Advanced Processing
Marine & Power<br />
Systems Group<br />
<strong>AUV</strong> 5000 V2 Specifications<br />
<strong>Multibeam</strong> <strong>Side</strong>scan<br />
Frequency: 455 KHz<br />
Pulse Type: CW or Linear FM<br />
(CHIRP)<br />
Pulse Lengths up to 16msec<br />
<strong>Sonar</strong> Range: 150m nominal;<br />
250 m extended<br />
<strong>Sonar</strong> Across Track Resolution: 3.75cm<br />
<strong>Sonar</strong> Along Track Resolution: 20cm to 75m<br />
38cm to 50 m – 250m
Marine & Power<br />
Systems Group<br />
<strong>AUV</strong> 5000 V1 vs. V2: Bottom Line<br />
The Klein 5000 v2 Offers the Following Enhancements<br />
over the original 5000 (Mk1):<br />
<br />
<br />
<br />
<br />
<br />
Extended Swath: 250m vs. 150m<br />
Reduced Power Consumption (85 W vs. 150 W);<br />
results in up to 20% endurance increase in a<br />
typical 24-hour <strong>AUV</strong> mission<br />
Greater Signal-to-Noise at all ranges<br />
Synchronous Power system<br />
Much smaller packaging – fits in 12” FF.<br />
<strong>Bathymetry</strong> Option
Marine & Power<br />
Systems Group<br />
S5000 V2 - Range = 250m
Marine & Power<br />
Systems Group<br />
S5000 V2 - Range = 150m
Marine & Power<br />
Systems Group<br />
S5000 V2 - Range = 150m
Marine & Power<br />
Systems Group<br />
True Multi-Beam<br />
Multi-Pulse
Marine & Power<br />
Systems Group<br />
Note the Squared Edges.<br />
Clearly, this is an object of<br />
interest (MLO).
Marine & Power<br />
Systems Group<br />
Thank You!<br />
For More Information,<br />
Please Contact<br />
Tim Alavosus<br />
Director of Sales <strong>and</strong> Marketing<br />
L-3 Klein <strong>Sonar</strong> Products<br />
tim.alavosus@L-3com.com<br />
(+1) 603.339.1928
Change language