System Integration for USV Sagea for effective bathymetric survey

Kurniantoro WHS, Agus Budiyono, Yohannes Kurnia P, Tutut Prasetyo


This paper presents a comprehensive system integration approach for the Unmanned Surface Vehicle (USV) Sagea, aimed at enhancing the efficiency and accuracy of bathymetric survey operations. The integration process involves combining various hardware and software components, including sensors, navigation systems, data acquisition devices, and control algorithms. The primary objective is to optimize the USV's capabilities to acquire precise bathymetric data in shallow water environments while minimizing human intervention The proposed system integration framework encompasses three key aspects: sensor integration, navigation integration, and data acquisition integration. Sensor integration involves incorporating state-of-the-art multibeam sonar systems and inertial measurement units (IMUs) to enable accurate depth measurement and precise positioning of the USV. Navigation integration focuses on integrating global navigation satellite systems (GNSS) and an advanced control algorithm to ensure reliable and efficient autonomous navigation. Data acquisition integration involves synchronizing the sensors, navigation systems, and data recording devices to capture and store high-resolution bathymetric data. To validate the effectiveness of the integrated system, field experiments were conducted in various challenging water environments. The results demonstrate the enhanced performance of the USV Sagea, showcasing improved depth measurement accuracy and navigational precision. The system's autonomous capabilities and robustness were also evaluated, revealing its ability to effectively operate in complex and dynamic water conditions. The integration of the USV Sagea system provides several advantages over traditional manned survey vessels, including cost-effectiveness, reduced human risk, and increased data acquisition efficiency. The research presented in this paper contributes to advancing the field of bathymetric surveying by offering a practical and efficient solution for unmanned survey operations. The findings highlight the potential of integrated USV systems in supporting various applications, such as coastal mapping, underwater infrastructure inspection, and environmental monitoring.


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