In the summer of 2017, Kraken Robotics was contracted by OEX Recovery Group Inc. to search for the Avro Arrow models in Lake Ontario on a project known as ‘Raise the Arrow’.
Kraken’s ThunderFish-Alpha was the primary survey vehicle used for this project. The vehicle was a joint development between Kraken Robotics and the Fraunhofer Institute in Ilmenau, Germany. This platform was equipped with Krakens MINSAS 60 sonar and a Reson T20-S Multibeam Sonar. Due to the small size of the target in question, approximately 2.8m long by 1.9m wide, a full SAS survey was performed, utilizing a lawnmower pattern spaced to fill the gap. The ThunderFish-Alpha also has an RTSAS (Real-time SAS) installed for real-time onboard SAS processing.
The following presentation by the OEX Recovery Group summarizes the overall search efforts: Raise the Arrow Project – Final Summary September 2020