A new vehicle system for relative inspection of in-water ship hulls has been developed, wherein a Doppler velocity logger is used to navigate relative to the surface being inspected, and imaging is performed with a DIDSON sonar. The system is capable of working with no compass or external navigation system, and in zero visibility waters. The ability to locate and lock onto a wall, and then perform full-coverage survey is demonstrated in several field tests.
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Hover et al. (2007) studied this question.
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