Automated Bathymetric Mapping Using Unmanned Aerial Vehicles for Wetlands Modelling

Understanding and managing wetlands requires modeling and monitoring their environments. Wetlands models are improved with more detailed bathymetric maps, which are developed through monitoring. This paper demonstrates how to achieve this monitoring through the use of Unmanned Aerial Vehicles (UAVs). UAVs provide a monitoring method with limited impact on the ecosystem, the option to dynamically balance spatial and temporal monitoring, and the possibility of autonomous monitoring. First, this paper develops, implements, and analyzes the various bathymetric mapping options for UAVs, including point selection and interpolation phases. Through the analysis and simulation results, it determines the best approach to take with an unknown environment. Second, to perform the measurements, a system is developed to measure water depth using a UAV that consists of a depth sensor payload and winch system. The system is incorporated onto a commercial UAV, controlling its flight and verifying its use to create autonomous bathymetric maps.