A scalar magnetometer payload has been developed and integrated into a two‐man portable autonomous underwater vehicle (AUV) for geophysical and archeological surveys. The compact system collects data from a Geometrics microfabricated atomic magnetometer, a total‐field atomic magnetometer. Data from the sensor is both stored for post‐processing and made available to an onboard autonomy engine for real‐time sense and react behaviors. This system has been characterized both in controlled laboratory conditions and at sea to determine its performance limits. Methodologies for processing the magnetometer data to correct for interference and error introduced by the AUV platform were developed to improve sensing performance. When conducting seabed surveys, detection and characterization of targets of interest are performed in real‐time aboard the AUV. This system is used to drive both single‐ and multiple‐vehicle autonomous target reacquisition behaviors. The combination of on‐board target detection and autonomous reacquire capability is found to increase the effective survey coverage rate of the AUV‐based magnetic sensing system.

中文翻译：

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在小型AUV上使用标量磁力计进行磁测和自主目标采集

标量磁力计的有效载荷已开发出来，并集成到两人便携式自动水下航行器（AUV）中，用于地球物理和考古调查。紧凑型系统从几何全微原子磁力仪（全场原子磁力仪）收集数据。来自传感器的数据既可以存储用于后处理，也可以提供给车载自主引擎以进行实时感知和做出反应。该系统已在受控实验室条件下和在海上进行了特性分析，以确定其性能极限。开发了用于处理磁力计数据以校正AUV平台引入的干扰和误差的方法，以提高感测性能。进行海底调查时，在AUV上实时执行对目标的检测和特征化。该系统用于驱动单车辆和多车辆自主目标的重新捕获行为。机载目标检测和自主重获能力的结合可以提高基于AUV的磁传感系统的有效勘测覆盖率。