Motion Compensation in Single Beam Sonar

1
Motion compensation in SONAR

• Mohammad Faisal
• Robotics Project
• Spring 2011

2
Motivation

• SONAR
• Mapping
• Mine Detection
• Submarine Detection
• Flaw

Presenter Notes
Sound Navigation And Ranging

3
Work so far

• Money Money Money
• Side-scan Sonar
• Array
• Doppler Effect
• Multi-beam Sonar

4
Simplify

• Take a scan
• Get Pose
• Use that pose to transform it.

Presenter Notes
Sound Navigation And Ranging

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How do we do that?

• Use Inertial measurement unit (IMU)
• Get Pose from IMU
• Link the sonar scan to the Pose
• Use Kalman filter with thruster model and visual
  odometry

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Results

• Not so Easy
• Interpolation
• IMU
• Velocity
• Distance
• Acceleration

P1
P2

Presenter Notes
Interpolation Based on the two poses, and the
distance between them



Accerelation at p1 and p2. Velocity at P1, and
time after P1.



IMU reading every second



Sonar is represented as an array. Transform them
into a global coordinate frame

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Results

• Now we use the pose
• Get global Position
• Get Cartesian Coordinates
• Add the current global position

L1
G1
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Next Steps

• Testing Best Case Scenario
• Integrate thruster model
• Integrate Visual Odometry
• More Testing

Presenter Notes
Test the IMU models.

Have pose for each scan. Betting Fitting







9
Thank You
Bye Bye