Towards Under-ice Sensing using a Portable ROV

Unmanned Underwater Vehicles (UUVs) have a promising future to explore the polar regions. In this paper, we present our progress on developing a self-contain inertial odometry for under-ice navigation. Firstly, a microcontroller-based hardware time synchronization for multiple devices is demonstrate...

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Bibliographic Details
Published in:OCEANS 2022, Hampton Roads
Main Authors: Zhao, Lin, Zhou, Mingxi, Loose, Brice
Format: Text
Language:unknown
Published: DigitalCommons@URI 2022
Subjects:
Marine Robotics
Remotely Operated Vehicle (ROV)
Time Synchronization
Under-ice Navigation
Sea ice
Alaska
Online Access:https://digitalcommons.uri.edu/gsofacpubs/1834
https://doi.org/10.1109/OCEANS47191.2022.9977140
Description
Summary:Unmanned Underwater Vehicles (UUVs) have a promising future to explore the polar regions. In this paper, we present our progress on developing a self-contain inertial odometry for under-ice navigation. Firstly, a microcontroller-based hardware time synchronization for multiple devices is demonstrated. Moreover, we present a new IMU, Doppler Velocity Log (DVL) and Pressure dead-reckoning (DR) for state estimation and a robust initialization approach for underwater vehciels. Field trials have been conducted in Utqiagvik, Alaska in March 2022 to gather multi-sensor data under the sea ice. In this paper, we highlight the performance of our method by comparing to the robot_localization algorithm, a widely used open-source localization algorithm.

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