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In-Situ Attitude Calibration for High Resolution Bathymetric Surveys with Underwater Robotic Vehicles

10 years 11 months ago
In-Situ Attitude Calibration for High Resolution Bathymetric Surveys with Underwater Robotic Vehicles
In this paper we present a methodology for high resolution acoustic bathymetric mapping from a robotic underwater vehicle. Based on data obtained from navigation, attitude, and bathymetric sensors we show that precise calibration of attitude sensors is critical to obtaining high precision bathymetric surveys. We present an in-situ method for precision attitude sensor calibration based upon specific vehicle maneuvers. This method is demonstrated using data from an acoustic bathymetric survey of an archaeological site in the Mediterranean conducted by the authors with the Jason remotely operated vehicle.
Hanumant Singh, Oscar Pizarro, Louis L. Whitcomb,
Added 31 Jul 2010
Updated 31 Jul 2010
Type Conference
Year 2000
Where ICRA
Authors Hanumant Singh, Oscar Pizarro, Louis L. Whitcomb, Dana R. Yoerger
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