Abstract: Systems and methods are provided for compression of 3 dimensional (3D) geophysical (e.g., air temp, water temp, wind, current, humidity, salinity, etc.) datasets that contain regions of NaNs (IEEE standard representation for Not a Number) that represent land, i.e. geographic positions that do not have valid data. Embodiments of the present disclosure allow constraint of the error magnitude by a user specified threshold, where compression and error are inherent tradeoffs.

Abstract: Systems and methods are provided for compression of 3 dimensional (3D) geophysical (e.g., air temp, water temp, wind, current, humidity, salinity, etc.) datasets that contain regions of NaNs (IEEE standard representation for Not a Number) that represent land, i.e. geographic positions that do not have valid data. Embodiments of the present disclosure allow constraint of the error magnitude by a user specified threshold, where compression and error are inherent tradeoffs.

Abstract: System and method for generating vehicle position fixes for an underwater vehicle based on images of a target object on the seafloor. The position of the target object is estimated based on a selected pixel on the target. For each image of the target, there is a different selected pixel, and a different uncertainty associated with the target location based on the selected pixel. Vehicle position fixes for the underwater vehicle are computed based on an analysis of the selected pixels for each target, the uncertainties of the selected pixel positions, the location and uncertainty of location of the vehicle collecting the pixel positions, and other information collected about the target.

Abstract: System and method for rapidly determining the geographic areas where spatial overlap of arbitrarily oriented (i.e. not just parallel) swath sensor data meets a pre-selected specified percentage of swath width.

Abstract: System and method for using forecast ocean currents to improve the prediction of an underwater vessel's trajectory as compared to using a simple dead reckoned path determined by vessel commanded heading and speed through the water. System and method for position-tagging long-term underwater time series data collected by a submerged mobile vehicle, and locally storing and uploading the position-tagged data.

Abstract: System and method for providing an automated method of importing NetCDF formatted data from a variety of sources that contain a variety of internal datasets. Options for processing and analysis can be provided and can occur simultaneously as the data are being processed. Storage and organization options provide efficient viewing and analysis of NetCDF datasets.

Abstract: System and method for using forecast ocean currents to improve the prediction of an underwater vessel's trajectory as compared to using a simple dead reckoned path determined by vessel commanded heading and speed through the water. System and method include a motion model specific to underwater gliders that incorporates 4d forecast currents.

Abstract: System and method for rapidly determining the geographic areas where spatial overlap of arbitrarily oriented (i.e. not just parallel) swath sensor data meets a pre-selected specified percentage of swath width.

Abstract: System and method for using forecast ocean currents to improve the prediction of an underwater vessel's trajectory as compared to using a simple dead reckoned path determined by vessel commanded heading and speed through the water.

Abstract: System and method for providing an automated method of importing NetCDF formatted data from a variety of sources that contain a variety of internal datasets. Options for processing and analysis can be provided and can occur simultaneously as the data are being processed. Storage and organization options provide efficient viewing and analysis of NetCDF datasets.

Abstract: A system for the accurate determination of the position of an underwater vehicle comprising a system observer subsystem having a state velocity update module, a terrain matching module, means for generating a prediction of the terrain matching module's performance and a constrained extended Kalman filter subsystem. The constrained extended Kalman filter subsystem includes a steady state extended Kalman filter, a non-linear constraint module, and a state predictor.

Abstract: The shipboard wave measurement system (SWMS) makes measurements as a function of time of vehicle position, range from the vehicle to the water's surface, and vehicle heave, pitch and roll to compute the height, direction, period and wavelength of the principal ocean wave component. Since the vehicle is moving, the wave heights measured are at different spatial locations, as well as at different times, and the observed wave height signal is Doppler shifted. The SWMS is composed of a positioning device, a timing device, a wave height estimator (WHE), a Doppler Integrator (DI) and a computer. The positioning device measures the vehicle's position, the timing device provides accurate time referencing for the vehicle position and wave height measurements. The wave height estimator measures range to the water's surface from the vehicle and vehicle vertical acceleration, pitch and roll and generates wave height at specific instants of time.

Abstract: The autonomous survey system (AutoSurvey) is used to automatically maximize area coverage with swath sensors and to minimize survey time while ensuring the collected data meets specified quality constraints. The autonomous survey system (AutoSurvey) evaluates the effects of the environment and system performance on the collected survey data by modulizing the data collection into a series of modules—data collection and error detection, data georectification, data quality validation, swath-edge fit, next-line way point generation, and the autopilot. All of these processes are implemented in near real-time, allowing unfettered survey progress. The data is applied directly between processes, providing operator independent system operation; the autosurvey system directly controls the survey vessel via the autopilot. Through the real-time data acquisition the system provides automation of the operator quality and coverage assessment tasks and also provides quantified data assessment.

Abstract: The location of a submerged tow vehicle (LOST) system provides a device for accurately determining a position of an underwater vehicle towed by a surface craft or aircraft, such as a helicopter. The LOST system utilizes five sources of input data to compute a best estimate of the towed vehicle's position. These are (1) high resolution bathymetry data in an area of the towed vehicle's transit, (2) ocean depth at a position of the towed vehicle, (3) the towed vehicle's velocity over sea bottom, (4) a slant range from the towed vehicle to a known reference point, and (5) a position and course of the towing vehicle. The LOST system is comprised of a slant range updater, a maximum likelihood estimator, a constrained adaptive tracker and a slant range corrector.

Abstract: The depthimeter comprises a heave sensor, a mean path compensator and a combiner. The mean path compensator comprises a ranging device which measures the instantaneous distance of the vehicle from a fixed point on the vehicle to ocean surface as a function of time; a range compensator to compensate for signal dropouts in the ranging devices data, for sensor offset angle, and vehicle pitch and roll, thereby providing a signal that contains the vehicles vertical motion and the vertical motion of the sea surface. A low-pass filter within the mean path compensator eliminates the components of the resulting signal due to the motion of the sea surface and the high frequency components of the vehicle's vertical motion, thereby producing a signal that is the mean path of the vehicle, referenced to mean sea level.