Towards Under-ice Sensing using a Portable ROV
Document Type
Conference Proceeding
Date of Original Version
1-1-2022
Abstract
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.
Publication Title, e.g., Journal
Oceans Conference Record (IEEE)
Volume
2022-October
Citation/Publisher Attribution
Zhao, Lin, Mingxi Zhou, and Brice Loose. "Towards Under-ice Sensing using a Portable ROV." Oceans Conference Record (IEEE) 2022-October, (2022). doi: 10.1109/OCEANS47191.2022.9977140.