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Sensors 2017, 17(6), 1328;

Development and Testing of a Dual Accelerometer Vector Sensor for AUV Acoustic Surveys

Laboratory for Robotics and Engineering Systems, University of Algarve, 8005-139 Faro, Portugal
Marsensing Lda, 8005-139 Faro, Portugal
Instituto Superior Téchico, Institute for Systems and Robotics,1049-001 Lisbon, Portugal
This paper is an extended version of our paper published in the 3rd International Electronic Conference on Sensors and Applications (ECSA-3), Copenhagen, Denmark, 15–30 November 2016.
Author to whom correspondence should be addressed.
Academic Editor: Stefano Mariani
Received: 30 March 2017 / Revised: 2 June 2017 / Accepted: 5 June 2017 / Published: 8 June 2017
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This paper presents the design, manufacturing and testing of a Dual Accelerometer Vector Sensor (DAVS). The device was built within the activities of the WiMUST project, supported under the Horizon 2020 Framework Programme, which aims to improve the efficiency of the methodologies used to perform geophysical acoustic surveys at sea by the use of Autonomous Underwater Vehicles (AUVs). The DAVS has the potential to contribute to this aim in various ways, for example, owing to its spatial filtering capability, it may reduce the amount of post processing by discriminating the bottom from the surface reflections. Additionally, its compact size allows easier integration with AUVs and hence facilitates the vehicle manoeuvrability compared to the classical towed arrays. The present paper is focused on results related to acoustic wave azimuth estimation as an example of its spatial filtering capabilities. The DAVS device consists of two tri-axial accelerometers and one hydrophone moulded in one unit. Sensitivity and directionality of these three sensors were measured in a tank, whilst the direction estimation capabilities of the accelerometers paired with the hydrophone, forming a vector sensor, were evaluated on a Medusa Class AUV, which was sailing around a deployed sound source. Results of these measurements are presented in this paper. View Full-Text
Keywords: vector sensors; AUV; spatial filtering vector sensors; AUV; spatial filtering

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Mantouka, A.; Felisberto, P.; Santos, P.; Zabel, F.; Saleiro, M.; Jesus, S.M.; Sebastião, L. Development and Testing of a Dual Accelerometer Vector Sensor for AUV Acoustic Surveys. Sensors 2017, 17, 1328.

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