Mission Planning Tool

Interactive Waypoint Navigation with Uncertainty Prediction

Plan AUV missions with optimized waypoint routing, predicted position uncertainty propagation, and sensor coverage analysis for safe and efficient undersea operations.

Mission Parameters

No waypoints added yet. Click "Add Random Waypoint" or generate a pattern.

Total Distance

0.0
km

Mission Duration

0.0
min

Max Uncertainty

0.0
m

LBL Coverage

0
%
Mission Plan View
Predicted Position Uncertainty
Sensor Availability Timeline

Mission Planning Theory

Waypoint Navigation

Autonomous underwater vehicles follow pre-planned waypoints to execute survey, search, or inspection missions. The mission planner must account for vehicle dynamics, turning constraints, and sensor availability to ensure safe and efficient navigation.

Path Length: L = Σ √[(x[i+1] - x[i])² + (y[i+1] - y[i])²]

Uncertainty Propagation

Between sensor updates, position uncertainty grows due to INS drift. The uncertainty is bounded by periodic DVL velocity aiding and LBL acoustic fixes:

σ(t) = σ₀ + drift_rate × distance_traveled If LBL fix: σ(t) = σ_LBL (≈ 2-5m) If DVL update: σ(t) = σ(t) × 0.8 (bounded growth)

Coverage Analysis

LBL transponder coverage depends on the vehicle's position relative to the acoustic array. Good geometry (low GDOP) ensures accurate position fixes. Mission planners must route through areas with adequate transponder coverage.

LBL Coverage = (time with valid LBL fixes) / (total mission time) × 100% Valid LBL fix requires: - Range to ≥3 transponders < max_range (typically 2-5 km) - GDOP < threshold (typically < 3)

Survey Patterns

Common mission patterns include: