However, it must be noted that only simulation tests were conducted in that publication. The author demonstrated that the proposed method makes it possible to limit the time of navigating along the profiles by 13% and maximum XTE deviation in turns by 80%. This method is based on maneuvering characteristics modelling for a vessel and an USV’s turning speed adjustment to their characteristics. One of them presented a method of steering the vessel along profiles in a way that allows for minimization of cross track error (XTE) parameter values when making turns. It should be noted that research on unmanned surface vehicle navigation along sounding profiles was conducted by other researchers. The correctly planned profiles, in connection with an optimization algorithm for optimal turning radius and speed and a correctly selected positioning system, should ensure a high stability of course maintenance for the USV. Which, in turn, was positively verified based on measurements in. Currently, the largest group of USVs are small vessels, designed for bathymetric measurements of shallow waterbodies and ports. They are characterized by high seaworthiness but are still a small group. Large and technically complex hydrographic unmanned vessels (over 300 kg) are intended for hydrographic and oceanographic measurements in coastal areas, and even in oceanic areas. Contrary to the very complex subject of unmanned vessels, hydrographic applications use unmanned vessels that weigh up to 50 kg and the sizes of USVs facilitate their transportation. One of the fields in which unmanned vessels are increasingly used is in marine and inland hydrography.
![hypack 2015 better sounding hypack 2015 better sounding](https://images.marinetechnologynews.com/images/maritime/w800h500/image-hypack-30970.jpg)
They pertain to the main systems of unmanned vessels: navigation, steering, communication, power and propulsion.
![hypack 2015 better sounding hypack 2015 better sounding](https://i.ytimg.com/vi/xlOuviHfUqM/maxresdefault.jpg)
The diversity of their applications requires solving a number of technical issues. The use of unmanned vessels may be noted in scientific research on oceans and seas, environment protection, and military applications. Maritime transport and special applications of USVs are nowadays two main directions for their development. Unmanned Surface Vehicles (USV) are unmanned vehicles performing a number of tasks in a variety of cluttered environments without human help, and they are characterized by highly nonlinear dynamics. The beginning of the 21st century has been a period of increasing use of unmanned vehicles, on land, in the air, and in water. The research has shown that despite the considerable difference in the positioning accuracy of both devices and incomparably different costs of both solutions, the authors proved that the use of the GNSS RTK positioning system, as opposed to a multi-GNSS system supported with a Fluxgate magnetic compass, influences the precision of USV following sounding profiles to an insignificant extent. The tests were compared with earlier measurements taken by other unmanned surface vehicles, which followed the exact same profiles with the use of much simpler and low-cost multi-GNSS receiver (positioning accuracy: 2–2.5 m or better, p = 0.50), supported with a Fluxgate magnetic compass with a high course measurement accuracy of 0.3° ( p = 0.50 at 30 m/s). For the purpose of evaluating the accuracy of the vessel’s path following along sounding profiles, the cross track error (XTE) measure, i.e., the distance between an USV’s position and the hydrographic profile, calculated transversely to the course, was proposed. During the measurements, a high-precision Global Navigation Satellite System (GNSS) Real Time Kinematic (RTK) positioning system based on a GNSS reference station network (positioning accuracy: 1–2 cm, p = 0.95) and a magnetic compass with the stability of course maintenance of 1°–3° Root Mean Square (RMS) were used. This paper presents research that aimed to determine the accuracy of unmanned surface vehicle steering in autonomous mode (with a Proportional-Integral-Derivative (PID) controller) along planned hydrographic profiles.
![hypack 2015 better sounding hypack 2015 better sounding](https://slideplayer.com/slide/4880113/16/images/28/HYPACK®+Multibeam+Training+Seminar.jpg)
Bathymetric measurements should be realized in a way that makes it possible to determine the waterbody’s depth as precisely as possible, and this requires high-precision in navigating along planned sounding profiles. This pertains especially to restricted or hardly navigable waters, in which execution of hydrographic surveys with the use of USVs requires precise maneuvering.
![hypack 2015 better sounding hypack 2015 better sounding](https://images.marinetechnologynews.com/images/maritime/image-hypack-30972.jpg)
One of such target applications is hydrography, where traditional (manned) bathymetric measurements are increasingly often realized by unmanned surface vehicles. Unmanned Surface Vehicles (USV) are increasingly used to perform numerous tasks connected with measurements in inland waters and seas.