Preliminary experiments in the development of a laser-based imaging sensor for AUV navigation

The Cranfield University DMT5 torpedo-shaped under-water vehicle has been modified to accommodate a laser stripe illumination system. As well as providing enhanced viewing capabilities, this system will derive real-time navigational data during the mission and gather images to produce a post mission enhanced optical waterfall image of a surveyed area. This paper describes a preliminary set of constrained motion trials at the IFREMER wave basin in Brest, where the system was towed through the 50 metre test tank at different altitudes and orientations whilst the true trajectory was measured. Copyright (C) 2003 IFAC.