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G-880AUV Integration with Teledyne Gavia AUV

Jul 28, 2012 | Posted in Blog, News, Notes From The Field

Weston Solutions, The University of Delaware and Geometrics recently participated in an ESTCP funded project to install and operate a magnetometer in a Teledyne Gavia AUV to locate underwater UXOs. Teledyne Gavia produced a custom Gavia Module with a flooded section to mount a G-880AUV sensor and a pressure vessel to mount G-880AUV electronics. Geometrics modified a G-880AUV magnetometer to operate from battery power with voltage ranging from +20 VDC to +35 VDC, which was installed along with an Applied Physics model 539 fluxgate magnetometer to measure platform motion. Teledyne Gavia provided custom crew members to record data from the G-880AUV and model 539. The University of Delaware operated the Gavia and, working with Weston Solutions, devised a survey pattern optimized for UXO surveys and compatible with Gavia mission planning.

 Gavia AUV

Gavia AUV

G-880AUV Magnetometer

G-880AUV Magnetometer

Two . UXO surveys were conducted near St Petersburg, Florida. The mission was to survey an area with known targets and a second area with unknown targets. We were able to successfully detect projectiles larger than 80 mm. To remove platform motion effects (induced, remnant and eddy current sources), the data was compensated using Geometrics MagComp II software. This new version of MagComp also includes compensation for electrical current sources and offers user-selectable compensation terms, providing more flexibility and better final result. A display of uncompensated and compensated data from one of the surveys is shown below:
Uncompensated vs. Compensated Data

Results of magnetic compensation (left side uncompensated – right side compensated) using Geometrics’ MagCompII post acquisition compensation software

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