Swath bathymetric data fusion Application to autonomous underwater vehicles
Résumé
The autonomous underwater vehicle (AUV) DAURADE
platform can acquire bathymetry with two acoustic sensors:
a multibeam echo sounder (MBES) and an interferometric
sidescan sonar (ISSS). The two sensors (MBES and ISSS) are
synchronized and they can simultaneously operate and acquire
the bathymetry with different resolutions, geometries and error
models. This complementarily allows us to improve the accuracy
and the coverage of the collected bathymetric data by fusing both
of them. We applied the fusion process on actual data from the
two bathymetric sensors of DAURADE (Reson 7125 MBES and
Klein 5000 Interferometric); the obtained results are presented
and discussed.