This paper demonstrates that accurate data concerning bathymetry as well as environmental conditions in shallow waters can be acquired using sensors that are integrated into the same marine vehicle. An open prototype of an unmanned surface vessel (USV) named MicroVeGA is described. The focus is on the main instruments installed on-board: a differential Global Position System (GPS) system and single beam echo sounder; inertial platform for attitude control; ultrasound obstacle-detection system with temperature control system; emerged and submerged video acquisition system. The results of two cases study are presented, both concerning areas (Sorrento Marina Grande and Marechiaro Harbour, both in the Gulf of Naples) characterized by a coastal physiography that impedes the execution of a bathymetric survey with traditional boats. In addition, those areas are critical because of the presence of submerged archaeological remains that produce rapid changes in depth values. The experiments confirm that the integration of the sensors improves the instruments’ performance and survey accuracy.

This paper shows an interesting case of coastal landscape reconstruction by using innovative marine robotic instrumentation, applied to an archaeological key-site in the Campi Flegrei (Italy), one of the more inhabited areas in the Mediterranean during the Roman period. This active volcanic area is world famous for the ancient coastal cities of Baiae, Puteoli, and Misenum, places of military and commercial excellence. The multidisciplinary study of the submerged Roman harbour at Nisida Island was aimed at reconstructing the natural and anthropogenic underwater landscape by elaborating a multiscale dataset. The integrated marine surveys were carried out by an Unmanned Surface Vehicle (USV) foreseeing the simultaneous use of geophysical and photogrammetric sensors according to the modern philosophy of multi-modal mapping. All instrumental measurements were validated by on-site measurements performed by specialised scuba divers. The multiscale analysis of the sensing data allowed a precise reconstruction of the coastal morpho-evolutive trend and the relative sea level variation in the last 2000 years by means of a new type of archaeological sea-level marker here proposed for the first time. Furthermore, it provided a detailed multidimensional documentation of the underwater cultural heritage and a useful tool for evaluating the conservation state of archaeological submerged structures.

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