Controlled Change in AUV Roll for Sea Surface Survey

The problem of detecting small-sized objects on the sea surface is considered. It has been determined that the most promising for deploying hydroacoustic equipment is the use of an autonomous underwater vehicle. When examining the sea surface from under water using a vehicle, it is advisable to place search tools in the upper part of the vehicle body. Due to the high cost of creating a specially equipped apparatus or duplicating search equipment in the underbody and upper parts of the apparatus, it is proposed to orient the search equipment towards the surface being surveyed by a controlled change in the roll of the apparatus to an arbitrary specified angle, up to the “overkill” position. To do this, the work proposes to equip the apparatus with ballast tanks and change the tilt of the apparatus by distilling water from one ballast tank to another. A mathematical model of a controlled change in the vehicle's roll has been developed, and a controlled change in the roll is shown using the example of a specific vehicle. A comparative assessment with the existing approach to surveying the water area showed a 10-fold increase in survey productivity due to the use of search equipment in the upper part of the hull of the apparatus, intended for bottom survey. The creation of a universal vehicle with a controlled change in roll will increase the efficiency of surveying the water area and detecting small objects on the sea surface.