Human-Machine Optimization for Seafloor Mapping

Transcription

1 Human-Machine Optimization for Seafloor Mapping Natalie Lamberton Hydrography Department, Naval Oceanographic Office US Hydro

2 Human-Machine Optimization for Seafloor Mapping Vignette Summary Multiple hydrographic surveys using Vessel of Opportunity, USV and UUV Surface platforms facilitate remote C 2 of all UxS tech, allowing shore-based surveyors the ability to monitor mission progress, review data quality and re-task assets to meet mission objectives Op Area: Cat Island/USM Gulfport Basin Dates: 8/6/2018 8/22/2018 (7 days total ops) Event Demonstrate ability to perform coordinated survey missions using UxS Demonstrate remote monitoring of UxS with the ability to manipulate missions in real time Demonstrate remote monitoring of UxS data quality with the ability to receive data ashore Demonstrate flexibility of operating surface platforms in minimally-manned or unmanned scenarios Demonstrate onboard hydrographic data processing capability for UxS Participating Units NMOC Command(s) NAVOCEANO FST MB Sonar, IVER3 UUV, support vessel Organization(s) Leidos R/V Pathfinder Autonomy in a Box Solution ASV Global C-Worker 5 QPS QINSy, Qimera 2

3 Potential Improvements to Mission Provides flexible collection capability for surface assets HSL operated in as manned, minimally-manned, or unmanned mode Enables remote C 2 of vessels over extended distances Use surface assets as a communication gateway Reduces effort associated with data processing Onboard processing moved to asset QC checks can occur during collection Data are received in production ready formats rapid assessment Maximizes collection opportunity Increases survey efficiency and data reliability Reduces data exploitation timelines 3

4 ASV Global/QPS Op Area Conference Center Base Station 4

5 Base Station Silvus Streamcaster 1 2 C-Worker deploys to a region and establishes UxS communications IVER3 deployed and performs subsurface maneuvering while transmitting status updates through ACOMMS onboard ASV C-Worker 5 3 C-Worker relays ACOMMS data through radio to base station 4 5 IVER3 mission remotely manipulated via radio/acomms real time Bathy data collected by C-Worker displayed real time via QPS to base station IVER3 ACOMMS QPS Base Station 6 7 Real time data monitoring/sensor configuration via QPS C-Worker and IVER3 recovered upon completing data acquisition 5

6 Integration Days (7/23-7/27) Operations Schedule Date / Time Mission Profile Questions / Tests / Measurables Equipment installation, offset survey, on-water testing in Broussard, LA Ops Day 1 (8/6) Ops Day 2 (8/7) Ops Day 3 (8/8) Ensure equipment integrates seamlessly Determine equipment offsets Pre-ops troubleshooting CW5 in water, FST provide support vessel, transit to basin, dock CW5 at pier, set up FOB at MRC, conduct mission planning Initiate comms check - CW5 to FOB, IVER to FOB Sensor shakedown Patch test lines CW ops day CW5 in water, FST provide support vessel, transit to basin, start operations, collect basin bathymetry with CW5, initiate automated processing in QINSy Collect basin bathymetry CW5 Re-tasking - reverse line plan Information relay to FOB Iver comms / mission monitoring Iver comms day CW5 and Iver in water, FST provide support vessel, transit to basin, start operations, communicate with Iver from FOB Iver comms / mission monitoring Is all equipment functioning together correctly? Are comms established during testing? Comms established? Latency of received signal? Are all subsystems integrated appropriately? How quickly can we received processed data? Online time vs offline time and reason? Endurance? Comms established? Latency of received signal? Are all subsystems integrated appropriately? How quickly can we received processed data? Automated processing vs manual processing savings? How much data processing is left after automated processing on asset? How well does this dataset compare to the baseline survey data? Comms established? Latency of received signal? Are all subsystems integrated appropriately? Can Iver be monitored from FOB? Can FOB send tasking to Iver? 6

7 ASV/QPS: C-Worker 5 ~15 hours of autonomous operations, ~60 linear NM of bathymetric collection Silvus Streamcaster radio mesh was capable of supporting gridded bathymetry transmission, real-time data interaction, C2, and providing situational awareness data at a range of ~1NM Multiple IVER3 status reports received at FOB via C-Worker 5 7

8 Leidos Op Area 8

9 R/V Pathfinder self-deploys to survey region High bandwidth comms established via maritime broadband radio (C2, msn data, video) Comms link enables optional supervisory control of Pathfinder Pathfinder senses surface contact; re-routes autonomously iaw COLREGS and resumes survey plan Pathfinder autonomously collects IHO Order One bathymetry 5 6 Comms link enables real-time data and mission payload summary to a remote operator 7 Pathfinder monitors survey progress, autonomously completing lines and filling gaps resulting from COLREGS maneuvers 8 Pathfinder returns to port upon completion of tasked mission 9

10 Leidos Comms Configuration 10

11 Operation Schedule Date / Time Mission Profile - Leidos Questions / Tests / Measurables Prep Days (7/23-8/3) Ops Day 1 (8/8) Ops Day 2 (8/9) Ops Day 3 (8/10) OiA Day (8/22) Install MVP aboard vessel, install comms equipment at BOB Initiate comms check Test MVP Set up FOB at MRC, conduct mission planning Initiate comms check vessel to FOB via BOB, FOB to vessel Sensor shakedown Patch test lines On-water ops day 1 Conduct survey in fully manned mode, ground truth collection Virtual surveyor - Conduct survey in minimally-manned (remote) mode, remote line schedule, data transmission to FOB Conduct survey in fully autonomous mode, onboard processing, data transmission and QC checks to FOB On-water ops day 2 Collision avoidance, resume survey Oceans in Action live demo : Showcase vessel at pier Repeat survey area, collision avoidance Is equipment successfully installed? Does MVP function as needed? Comms established? Is MB calibrated? Is equipment functioning properly? Online time vs offline time and reason? Comms established? Latency of received signal? How quickly can we received processed data? Automated processing vs manual processing savings? How much data processing is left after automated processing on asset? How well does auto dataset compare to the baseline survey data? How large of an area can be surveyed? Reliability of COLREGS solution? Can it resume the survey after line break? Can quality of test survey be repeated? Reliability of COLREGS solution? Latency of received signal? 11

12 Leidos: RV Pathfinder ~12 hours of autonomous operations ~60 linear NM of bathymetric collection 6 COLREGS compliant maneuvers attempted and achieved Automated MVP casting, filtering and application at 30 minute intervals for all RV Pathfinder Ops Maritime Broadband Radio (MBR) was capable of supporting gridded bathymetry transmission as well as real-time data interaction within post-processing software installed on the asset at a range of ~ 8NM Leidos Broadband Meshable Data Link communications (BMDL) was capable of supporting C2 of RV Pathfinder and providing situational awareness data at a range of ~8NM 12

13 / Results UxS performing coordinated survey missions C-Worker 5 served as gateway for monitoring and retasking IVER3 in very shallow water No noticeable impact from DTC comms (MIW Vignette) also mounted on MRC Initial concern due to similar frequencies used by DTC and C-Worker 5 comms Remote monitoring of UxS with the ability to manipulate mission profile NAVO / FST located at FOB reviewed and modified survey plans in real-time Remote monitoring of UxS data quality with the ability to receive data ashore NAVO / FST located at FOB reviewed bathymetric data and modified multibeam sonar runtime parameters to optimize data quality NAVO / FST located at FOB received gridded bathymetry data in GIS ready formats NAVO / FST located at FOB demonstrated the capability to transfer subsets of full resolution data Operating surface platforms in minimally-manned or unmanned scenarios Capability to continuously supervise UxS operations successfully demonstrated Capability extends to minimally-manned scenario Onboard hydrographic data processing capability for UxS USVs leveraged onboard hardware / software to apply standard corrections, uncertainty attribution and statistical gridding methods in automated fashion Capability to interact with post-processing software installed on UxS successfully demonstrated 13

14 Moving Forward Communications Broadband radio communication systems between a FOB (or T-AGS) and USV will provide the opportunity to project expertise Review updated gridded bathymetry as data files accumulated Resurvey an area if data quality was questionable invaluable if access to survey area is restricted Automated Data Processing Automating standard post-processing routines and moving these routines closer to the sonar ping would significantly reduce the time required to conduct these processes after recovery of the asset (HSL) or EOD (T-AGS) Directly applicable to the current bathy / hydro survey operations Savings estimated at several man-hours per survey day COLREGs (Rules of the Road) Compliancy for USV Automated surface contact detection and avoidance is critical to the acceptance of USVs for operational use 14

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