Acoustic redirection, reacquisition, and acoustic/optical imaging of mine-like targets in very shallow water using the CetusII AUV

The Lockheed Martin Perry Technologies CetusII is a highly-maneuverable hover-capable autonomous underwater vehicle uniquely suited to underwater object relocation and imaging. The CetusII provides for precise geodetic relocation and target imaging in shallow/very shallow water environments operating from small available deployment assets with minimum support needs. The CetusII vehicle fields acoustic lens sonars (LIMIS/MIRIS) which provide near-photographic image quality in a compact low-power implementation. It integrates a complete Doppler velocity log aided inertial navigation system. The CetusII has successfully collected acoustic imagery at several venues. At each demonstration, additional capabilities have been added providing the potential user with greater functionality and operational flexibility. In performing the reacquisition-inspection-neutralization support mission, the CetusII employs coordinate information of potential targets which have been provided by area reconnaissance vehicles. The paper describes recent enhancements of the CetusII vehicle, including the augmentation of the imaging sonar with a compact underwater video camera providing simultaneous acoustic/video image collection, the integration of a long base line package allowing for simultaneous navigation with the reconnaissance vehicle, and the redirection of the CetusII via an acoustic modem. The vehicle capabilities and data products are described in the context of in-water testing and demonstration of the operational system.