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...
Published in: | OCEANS 2022, Hampton Roads |
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Main Authors: | , , |
Format: | Text |
Language: | unknown |
Published: |
DigitalCommons@URI
2022
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Subjects: | |
Online Access: | https://digitalcommons.uri.edu/gsofacpubs/1834 https://doi.org/10.1109/OCEANS47191.2022.9977140 |
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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