Toward High-Precision Seafloor Mapping with Low-Cost Underwater Vehicles: Based on nonlinear attitude estimation and self-calibration methods

• Main Authors: Troni - Peralta, Giancarlo
• Other Authors: Pontificia Universidad Catolica De Chile
• Format: Report
• Language: unknown
• Published: 2023
• Subjects: Underwater vehicle navigation Ocean instrumentation Nonlinear attitude estimation; Otras Ingenierias Y Tecnologias; Magallanes; Valparaíso; Bío Bío; General Bernardo O'Higgins; Antártica
• Online Access: https://hdl.handle.net/10533/48440

RESULTS OBTAINED:For each specific goal, describe or summarize the results obtained. Relate each one to workalreadypublishedand/ormanuscriptssubmitted.IntheAnnexsection,includeadditionalinformation deemed pertinent and relevant to the evaluation process.The maximum length for this section is 5 pages. (Arial or Verdana, font size 10).The current project aimed at achieving four specific goals related to underwater robot vehiclealgorithms for ocean exploration, such as seafloor mapping. Two of these proposed goals weresuccessfully completed during the course of this project. The third goal was advanced but wasmore challenging and required further work. The final goal of experimental validation was mainlyadvanced in the previously developed methods.A great effort was needed to enable the newtank and robot facilities in the University to validate the techniques developed in this project andcollect the field data in collaboration with the Monterey Bay Aquarium Research Institute inCalifornia.In summary, several methods were developed to reduce ocean exploration costs. From betteralignment methods to enable high-definition mapping to low-cost navigation of the vehicle to anextension to new mapping sensors consisting of the building blocks to allow scalable robots thatcan explore the ocean and reduce the knowledge gap, we have explored this part of our planet. Allthe methods were validated not only with simulation but in our new laboratory facilities and withfielddatafromdeep-sea exploration platforms from the Monterey Bay Aquarium ResearchInstitute in California.In-situ alignment calibration methodsThe objective of this first research goal is to develop novel algorithms for the in-situ calibration ofthe rotational and translational alignment offsets between a mapping sensor, such as multibeamsonar (MB) or lidar, and the inertial navigation system (INS) required for creating high-resolutionbathymetry maps with underwater vehicles.Previously reported solutions to this alignment calibration problem achieved offset ...