Abstract: A system that can be used for inspecting underwater structures. The system allows a user to gain a better understanding of the condition of an underwater structure. The system is a self-contained, modular system that can be operated by divers, coupled to an AUV, ROV or other host platform vehicle deployment platform, towed by a ship, pole mounted, or hull mounted. All of the components necessary to achieve the desired scanning functions are incorporated onto the self-contained, modular system. The system can include and fully utilize a 3D sonar system and an inertial navigation system. This combination of features permits the system to be used to, for example, generate 3D models of underwater structures, detect changes in underwater structures by comparing the generated 3D model against an a priori 3D model, and provide navigational updates to the host platform based on the observed features of an underwater structure.

Abstract: A system for measuring acoustic signature of a target object in water includes a plurality of rigid segments connected to each other to form a longitudinal member and a plurality of floats connected to the longitudinal member. Two buoys are connected at two ends of the longitudinal member and two weights are suspended from the buoys, thus making the longitudinal member neutrally buoyant when suspended in water. A plurality of hydrophones and an acoustic projector of a known source level are connected to the longitudinal member. The system further includes a data acquisition system for receiving signals from hydrophones and a signal processing means for processing signals received by data acquisition and determining acoustic signature of the target object. A depth/pressure sensor may be included. A pinger is located on the target object to measure range of target object to hydrophones. Range to target object is displayed in real time.

Abstract: A system that can be used for inspecting underwater structures. The system allows a user to gain a better understanding of the condition of an underwater structure. The system is a self-contained, modular system that can be operated by divers, coupled to an AUV, ROV or other host platform vehicle deployment platform, towed by a ship, pole mounted, or hull mounted. All of the components necessary to achieve the desired scanning functions are incorporated onto the self-contained, modular system. The system can include and fully utilize a 3D sonar system and an inertial navigation system. This combination of features permits the system to be used to, for example, generate 3D models of underwater structures, detect changes in underwater structures by comparing the generated 3D model against an a priori 3D model, and provide navigational updates to the host platform based on the observed features of an underwater structure.

Abstract: A system for measuring acoustic signature of a target object in water includes a plurality of rigid segments connected to each other to form a longitudinal member and a plurality of floats connected to the longitudinal member. Two buoys are connected at two ends of the longitudinal member and two weights are suspended from the buoys, thus making the longitudinal member neutrally buoyant when suspended in water. A plurality of hydrophones and an acoustic projector of a known source level are connected to the longitudinal member. The system further includes a data acquisition system for receiving signals from hydrophones and a signal processing means for processing signals received by data acquisition and determining acoustic signature of the target object. A depth/pressure sensor may be included. A pinger is located on the target object to measure range of target object to hydrophones. Range to target object is displayed in real time.