Seafloor Imaging Maps by Incorporating Side Scan Sonar Technology on Hybrid Autonomous Underwater Glider

This research aims to construct a two-dimensional image to represent an underwater geometry map with a Side Scan Sonar (SSS) mounted on a Hybrid Autonomous Underwater Glider (HAUG). Building the underwater map has two stages of the process. The first stage is preprocessing which includes Time-varying gains (TVG), slant range correction, and ground range correction. The second is HAUG navigation, the movement of HAUG orientation to the angle and distance of SSS readings and plotting the geometry of the grid map. With these two stages, a two-dimensional grid map will be formed. Meanwhile, the 3D plot utilizes slant range and ground range correction to obtain the surface height of the bottom of the pool. From the experiments conducted to conduct mapping in the pool, two-dimensional and three-dimensional visual forms of the pool floor and pool walls were produced. The results of the estimated measurement of the width of the pool obtained 14.05 meters and the height of the pool 3.199 meters with an SSS beam angle of 58 degrees.