Autonomous bathymetry survey system

This paper describes the Autonomous Bathymetry Survey System (AutoSurvey), a system that provides automation of swath sonar bathymetric surveys. This system enables faster surveying of an area through environmentally adaptive techniques while ensuring adequate coverage and data quality. AutoSurvey assesses data quality and coverage in real time and generates next-trackline waypoints based on actual system performance. The need for real-time performance assessment is discussed. A primary factor considered is the effect of the environment on swath bathymetry system performance, which is difficult to predict a priori. The system´s features, design, and implementation are discussed in this paper. Simulation and sea trial results are presented, as well as an analysis of the system´s ability to reduce survey time