1. 21/03/2015 1 SESAM – UAV seminarium 2004-02-11 Mari Persson

2. 21/03/2015 2 Optical guidance system Anders Eriksson / Magnus Johnsson

3. 21/03/2015 3 Optical guidance system based on computer vision + Complete determination of vehicle position and orientation + AUV already equipped with camera (multi-purpose use) + Functionality mainly in software - Limited working range

4. 21/03/2015 4 Optical guidance system - Setup Power supply Control Driver Ignition pattern 10

5. 21/03/2015 5 Optical guidance system, Land-based setup

6. 21/03/2015 6 Track estimation 1m x y z

7. 21/03/2015 7 Underwater setup

8. 21/03/2015 8 Detection range Malmö Habour: 28 m (measured) Baltic Sea: 60 m (simulated)

9. 21/03/2015 9 Conclusion An underwater optical guidance system has been constructed and built System performance has been evaluated The achieved performance at full functionality is sufficient to guide an UUV during docking The environment has a strong impact on the achieved working range