Measurement error analysis of multibeam echosounder system mounted on the deep-sea autonomous underwater vehicle

The measurement error sources of the multibeam echosounder system (MBES) mounted on the deep-sea autonomous underwater vehicle (AUV) are analyzed according to the composition features of the system. By analyzing the AUV sailing poses, the installation deviation of the multibeam measuring probe and the navigation and positioning system, the depth error estimation model and the position error estimation model of MBES are established. Based on the models above, the simulation is carried out considering the installation error of MBES. The deep-sea AUV conducted a sea trial at a drilling well site in Bohai Sea with a fixed depth of 7 m above the seafloor. The pose fluctuation of the AUV is derived. By comparing with topography in the area of the well site, the validity of the depth error estimation model and the position error estimation model are tested. The results provide design considerations of the integration installation of MBES to the AUV system. They are also important for the measurement data pose processing for MBES.