The detection and disposal of IED devices within harbor regions using AUVs, smart ROVs and data processing/fusion technology

摘要

Keeping our ports and waterways safe from threats has become increasingly relevant. Hull and harbor infrastructure inspections are not performed regularly as they are time consuming, require careful planning and involve a huge amount of risk as well as human and monetary resources. An Autonomous Underwater Vehicle (AUV)-based approach will speed up operations and help locate and identify possible threats while removing divers from the high risk tasks. Providing smart Remotely Operated Vehicle (ROV) technology that can automatically prosecute contacts identified by the AUV as well as carry out close video and sonar inspections of harbor infrastructure will also help speed up and improve inspections. In tandem with constant monitoring in sensitive diver incursion areas this will provide a holistic risk-averse harbor inspection solution. Harbor areas may be divided into distinct open and constrained regions. Within the open harbor regions there is a clear need to remove divers from the tasks of detecting targets, discriminating them from bottom clutter and positively identifying them. SeeTrack Professional comprises a modular suite of software components which provides multi-vehicle mission planning, monitoring and post processing capabilities for rapid on-site analysis and data fusion of the sensor data. It uses a modular open architecture that provides a single integrated picture for all assets being employed within the Harbor region. It has been used successfully to coordinate multiple AUV operations. SeeTrack Professional includes a Change Detection component which fuses and compares data to highlight anything from possible threats to foreign bodies. The Change Detection model considers the location and spatial distribution of the targets within the Harbor region data to flag possible new threats. Carrying out the fusion at the meta-data level allows the Change Detection to be carried out on data collected with different assets. Within constrained regions of a harb--or, ROVs can be deployed to inspect areas such as the pier pilings, harbor walls and around the ship hulls. ROVs are rapidly déployable and capable of continuous, reliable operations in adverse conditions. They also provide a platform on which multiple sensors may be mounted and utilized to meet the harbor inspection problem. This paper will present a smart ROV solution that employs automated control technology to simplify close inspection. The advanced technology enables the pilot, to focus on his primary task of looking for possible threats (such as IEDs, Limpet Mines, signs of sabotage, etc). This same smart ROV can be used to automatically prosecute contacts identified by the AUV in the open areas. In conjunction with a robust-repeatable real-time Diver Detection system that can be operated with sonars mounted close to sensitive areas of a harbor the waterways, the infrastructure can be kept safe and free of threats. By using real-time sensor processing capabilities including Automatic Target Recognition (ATR) algorithms for Forward Looking Sonar and Video sensors the AUV, Mosaicing and live 3D Re-construction modules, ROVs and harbor monitoring sensors can highlight possible IED targets and divers, locating their position within the harbor environment. This presentation will present results from trial and operations.