Design of Unmanned Surface Vehicle for Submarine Pipeline Detection

A large number of submarine pipelines need to be detected, School of Mechatronic Engineering and Automation, Shanghai University has specially developed a Unmanned Surface Vehicle(USV) with synthetic aperture sonar(SAS). This paper propose a novel design scheme of USV for submarine pipeline detection(SPD), called SPD-USV. In order to meet the stability requirements of SAS to detect submarine pipeline, gyro stabilizers were installed on USV to suppress the roll motion. Based on the principle of gyro stabilizer, and the mathematical relationship between gyro stabilizer movement and roll of USV, offshore experimental data was obtained. Finally, the offshore experimental data were analyzed to compare the Roll of USV angle, angular velocity, and angular acceleration when gyro stabilizer with and without. In addition, the spectrum diagrams were used to analyze the suppression effect of gyro stabilizer on different roll frequencies. The results show that the anti-rolling effect of gyro stabilizer achieve the desired, can provide guarantees for measurement of SAS.