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Apache4 USV Marine Drone

Autonomous hydrographic and bathymetric survey USV

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ADVANCED NAVIGATION CONTROLLER

Integrated adaptive water flow straight-line and hovering technology

The autonomous control system enables APACHE 4 to navigate straight along the cross-section according to the profile view when the flow rate, turbulence, etc., changes. The hovering technology can make APACHE 4 hover stably in the turbulent flow at the start and end points of ADCP observation, thereby improving the accuracy of flow estimation.

COMPATIBLE WITH COMMON ADCPS

Versatile. Carries up to 35 kg of payload

The APACHE 4 central access shaft design provides unmanned cross-sectional flow measurement solutions for the leading ADCPs on the market. The APACHE 4 is particularly suited for hydrologists using ADCP sensors such as the M9, RTDP 1200, RiverPro, and RiverRay, who are looking for an integrated, portable, and affordable unmanned solution. It does not only carry the ADCP but also provides its positioning, orientation, power, waterproofing, network, and 4G transmission solutions.

BUILT-IN SINGLE BEAM ECHO SOUNDER

Expand your unmanned survey capability

Single beam sounding data can be used to verify the accuracy of ADCP bottom tracking data and even fed directly into the ADCP flow measurement software to compensate for the unavailability of ADCP data, and at the same time, provides water depth profile data associated with the flow velocity profile measurement.

SMART POSITIONING AND NAVIGATION

Uninterrupted positioning with GNSS+IMU

APACHE 4 provides a stable position and heading to the ADCP and autopilot. Its IMU sensor ensures the availability of position data even during momentary GNSS signal loss. The obstacle avoidance radar system and live video feed ensure safe operations in case of loss of visibility or difficult environmental conditions. Completely autonomous, the APACHE 4 is safely operated from the shore. The AutoPlanner and HydroSurvey software suite allows the operator to define the entire mission, from the survey area to the export of the results.

SPECIFICATIONS

Physical
Hull dimension
(L × W × H)
1200 mm x 750 mm x 400 mm
MaterialMacromolecule polyester carbon fiber
Weight (w/o
instrument and battery)
13 kg
Maximum payload35 kg
Anti-wave & Wind                3rd wind level and 2nd wave level
Hull designTriple-hull vessel
 Water proof                          IP67                                                            
Draft12 cm
Indicator LightTwo-color light
(Display satellite and positioning status)
Camera360° omnidirectional video
 ADCP Mounting aperture    240 mm                                                       
ADCP CompatibilityCompatible with M9, RiverPro, RiverRay, RioGrande, RCP and other navigable ADCP
Monted DeviceADCP and sounder are equipped at the same time. Expandable sampling, water quality meter, side scan.
SafeShoal automatic astern, millimeter-wave radar automatic obstacle avoidance, low battery auto-return, signal loss auto-return
Obstacle avoidance
distance
0.2-40 m
Power
TypeElectric
 Propeller type                        Brushless DC                                             
Direction control Veering without steering engine
 Maximum motor power        800 W                                                         
Maximum motor speed7200 rpm
Li-ion battery capacity4 x 23.1Ah 32.4 V
1 x 15 Ah 18 V
Battery endurance2 x 3 hours @ 2 m/s (running on 2 battery sets, support hot-swap)
Maximum speed6 m/s
Communication
Data communicationNetwork bridge: 1 km and 4G: unlimited
R/C communication               2.4 GHz                                                      
Remote control range1 km
SIM Card slot                       Nano SIM                                                   
  Interface                                  
Interface2 x RJ45 port 3 x RS232 serial port 1 x PPS
 Navigation mode                 Manual or Auto-Pilot
Water proof of master controlIP67
Data storageLocal multi-sessions and FTP push
Positioning
Satellite systemBDS B1/B2, GPS L1/L2, GLONASS L1/L2, Galileo E1/E5, QZSS
 Channel                                 432                                                              
Single point position (RMS)Horizontal: 1.5 m Vertical: 2.5 m
 Vertical: 2.5 m
SBAS Positioning
accuracy
Horizontal: 0.5 m
Vertical: 0.85 m
DGNSS positioning accuracyHorizontal: 0.4 m + 1 ppm Vertical: 0.85 m + 1 ppm
RTK Positioning
accuracy
Horizontal: ±8 mm + 1 ppm
Vertical: ±15 mm + 1 ppm
Heading accuracy0.2 ⁰ @1 m baseline
Inertial navigation
accuracy
6 ⁰/ h
IMU update rate200 Hz
D270 Single Beam Echo Sounder
Data typeCHCGD (1) , NMEA SDDPT/SDDBT,
original waveform
Weight0.84 kg
 Sounding range                     0.15 m to 200 m                                          
Sounding accuracy±0.01 m + 0.1% x D (D is the depth of water)
Resolution                             0.01 m                                                         
Frequency200 KHz
Beam angle                           6.5° ± 1°                                                       
Supply voltage10-36 V DC/ 100-20 V AC
WaterproofIP67
Software
Hydro SurveyData collection and post-processing. Support coordinate conversion, trajectory, water depth, waveform real-time display, post-processing support waveform overlay and attitude correction.

Auro PlannerRoute planning, autonomous navigation, hull parameter control, multi-angle video display, and system self-test at power-on.

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