TECHNOLOGY AREAS: Ground/Sea Vehicles, Electronics

ACQUISITION PROGRAM: PMS 501, LCS Program, ACAT 1

OBJECTIVE: Develop of innovative approaches to provide the capability of precision navigation of manned and unmanned below the waterline inspection systems while in-port or in shallow water environments. Proposed technologies should be of a fidelity to provide positioning or re-positioning data to within 10 cm and should enable 100% coverage of the hull.

DESCRIPTION: Underwater hull inspection systems, whether diver or unmanned vehicle based, require a precise navigation system to provide precise location information so that all hull data measurements can be properly correlated with previously collected data measurements. It is necessary to know the location of hull features such as cracks, pitting, corrosion areas, and hull damage or discontinuities. These areas will be monitored over time so sensor measurements need to be repeatable to within 10 cm to ensure any differences in hull data observed are real. Current systems are generally developed to position an object in relatively deep water, meaning the navigation system reference net is above or below the target, and the target has line-of-sight to at least three of the reference net elements. These systems also operate better away from structures that interfere with the acoustic path of the reference net to the target. Short baseline and ultra-short baseline systems operate well when there is sufficient distance from the reference head to the target.

These technologies will not provide the fidelity of precision required for in-port or shallow water inspections. There are many factors that affect accurate positioning of an underwater sensor on a ship hull:
� The structure of the hull often prevents "line-of-sight" triangulation used by acoustic navigation systems reference nets;
� The system must operate in a marine industrial environment and be tolerant of: acoustic noise from other devices which may produce similar frequencies (sonars, outboard motors, needle guns)
� Physical limitations for attachment of navigation system fixtures to ships or piers
� Physical movement of the ship when pierside or in open water
� Variation of the actual ship dimensions from the ship�s drawings; as well as variations within a ship class (different flights)
� Ships may be moored to a pier using floating piers, camels, or large fenders all of which may move relative to the ship while it is pierside
� The ship and pier structure may cause acoustic reflections or multi-path of the navigation system
� Weather, sea-state, and turbid water may affect the performance of navigation systems relying on optics
� Topside ship structure and pier structures may obstruct/affect satellite/GPS signals
� Ship intakes and discharges that create flow

This topic seeks innovative and alternative approaches to the development of methodologies and any applicable advanced algorithms to enable the precision navigation of both manned and unmanned inspection systems in port and in shallow water environments to within 10 cm of position accuracy. A key challenge is going to be the ability to integrate multiple sub-systems for successful navigation on ship hulls i.e. ship hull feature recognition; inertial sensors; acoustic transceivers/transponders, or other enabling technologies. Proposed concepts need to be designed with open architecture principles in mind to allow for easy interfacing with existing and future hull inspection systems. Proposed concepts should minimize ship impact (e.g., size, weight, power, stowage, etc.) and shall minimize the operational and personnel efforts to initiate, execute, and terminate the inspection process.

PHASE I: Demonstrate the feasibility of the development of innovative, alternative and affordable approaches innovative approaches to provide the capability of precision navigation of manned and unmanned below the waterline inspection systems while in-port or in shallow water environments to within 10cm. Establish performance goals and provide a Phase II development approach and schedule that contains discrete milestones for product development.

PHASE II: Develop, demonstrate and fabricate a prototype as identified in Phase I. In a laboratory environment, demonstrate that the prototype product meets the performance goals established during Phase I. Provide a detailed plan for software and/or hardware certification, validation, and method of implementation into a future ship test and/or design environment. Prepare cost estimates, logistics data packages, and interface documents for use in both forward fit and retrofit ship programs.

PHASE III: Utilizing the technology developed during Phase I and II, work with Navy and industry to certify and implement for use on existing and future naval and commercial shipbuilding programs.

PRIVATE SECTOR COMMERCIAL POTENTIAL/DUAL-USE APPLICATIONS: An underwater vehicle precision navigation system would be applicable to many fields. Its applications could include inspections of pilings/seawalls, hull inspections on commercial ships, surveillance and reconnaissance, or other underwater inspection activities.

REFERENCES:
1. Kinsley, James C., Eustice, Ryan M., Whitcomb, Louis J.: "A Survey of Underwater Vehicle Navigation: Recent Advances and New Challenges" � Available Upon Request.

KEYWORDS: Hull; Inspection; Underwater; Navigation;

** TOPIC AUTHOR (TPOC) **

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