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SESAM – UAV seminarium 2004-02-11Mari Persson

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Optical guidance systemAnders Eriksson / Magnus Johnsson

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Optical guidance system based on computer vision

+ Complete determination of vehicle position and orientation+ AUV already equipped with camera (multi-purpose use) + Functionality mainly in software- Limited working range

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Optical guidance system - Setup

Powersupply

ControlDriver

Ignition pattern

10

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Optical guidance system, Land-based setup

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Track estimation

1m

xyz

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Underwater setup

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Detection range

Longitudinal from source [m]

Tra

nsve

rsal

to

sour

ce [

m]

Kockums Harbour Malmö

10 20 30 40 50 60 70 80 90

-15

-10

-5

0

5

10

15

-150

-100

-50

0

Longitudinal from source [m]

Tra

nsv

ers

al t

o s

ou

rce

[m]

Baltic Sea

10 20 30 40 50 60 70 80 90

-15

-10

-5

0

5

10

15

-120

-100

-80

-60

-40

-20

0

Malmö Habour: 28 m

(measured)

Baltic Sea: 60 m

(simulated)

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Conclusion• An underwater optical guidance system has been

constructed and built

• System performance has been evaluated

• The achieved performance at full functionality is sufficient to guide an UUV during docking

• The environment has a strong impact on the achieved working range