Characterization of Underwater Target Geometry from Autonomous Underwater Vehicle Sampling of Bistatic Acoustic Scattered Fields
Erin Fischell, Ph.D., 2015
Henrik Schmidt, Advisor
One of the long term goals of Autonomous Underwater Vehicle (AUV) minehunting is to have multiple inexpensive AUVs in a harbor autonomously classify hazards. Existing acoustic methods for target classification using AUV-based sensing, such as sidescan and synthetic aperture sonar, require an expensive payload on each outfitted vehicle and expert image interpretation. This thesis proposes a vehicle payload and machine learning classification methodology using bistatic angle dependence of target scattering amplitudes between a fixed acoustic source and target for lower cost-per-vehicle sensing and onboard, fully autonomous classification. The contributions of this thesis include the collection of novel high-quality bistatic data sets around spherical and cylindrical targets in situ during the BayEx'14 and Massachusetts Bay 2014 scattering experiments and the development of a machine learning methodology for classifying target shape and estimating orientation using bistatic amplitude data collected by an AUV. The final models produced from real and simulated data sets were used for classification and parameter estimation of simulated targets in real time in the LAMSS MOOS-IvP simulation environment.