Abstract
This thesis presents the development and implementation of a Regional Ocean Modelling System (ROMS)-based Unmanned Underwater Vehicle (UUV) mission simulator. The primary focus is on creating a sophisticated simulation tool that integrates ROMS data to replicate realistic ocean environments and accurately mimic the behavior and data collection processes of UUVs, with a specific emphasis on the T-REMUS vehicle. The developed simulator aims to provide a safe and efficient way to develop and test advanced navigation systems for UUVs. The study involves transforming ROMS data for uniform spatial representation and simplified interpolation. Path generation algorithms were developed for missions with predetermined waypoints, featuring straight and yo-yo maneuvers. Data collection focuses on the Acoustic Doppler Current Profiler (ADCP) and Conductivity, Temperature, and Depth (CTD) sensors. Enhancements include sensor frequency adjustments and noise addition. Implemented as a Python package as well as a Graphical User Interface (GUI), this research provides a robust tool for advancing UUV navigation and data collection strategies. The simulator’s applications span mission planning, virtual ocean studies, and educational purposes, contributing significantly to oceanography and UUV navigation systems.