Abstract: Systems and methods are provided to detect and identify targeted objects buried in the seabed. A targeted area of the seabed may be scanned with a sub-bottom profiler based on predetermined parameters. A localization engine may model the sub-bottom profiler data using a Levenberg-Marquardt non-linear least squares determination. Distance measurements may be extracted based on the modeled data, including a vertical range based on a slant range measured from the sub-bottom profiler to the closest points on the exterior of the targeted objects. The location of the targeted objects may be based on the extracted measurements. In some embodiments, the sub-bottom profiler may be mounted on an unmanned underwater vehicle having thrusters to navigate the vehicle toward the targeted area to excavate and sidescan the targets object.

Abstract: Systems and methods are provided to detect and localize targeted objects buried in the seabed. A targeted area of the seabed may be scanned with a sub-bottom profiler based on predetermined parameters. A localization engine may model the sub-bottom profiler data using a Levenberg-Marquardt non-linear least squares determination. Distance measurements may be based on the modeled data, including a vertical range based on a slant range measured from the sub-bottom profiler to the closest points on the exterior of the targeted objects. The location of the targeted objects may be based on the measurements. In some embodiments, the sub-bottom profiler may be mounted on an unmanned underwater vehicle having thrusters to navigate the vehicle toward the targeted area to excavate and sidescan the targeted object.