3D Water Quality Mapping using Invariant Extended Kalman Filtering for Underwater Robot Localization
Fuente:
arXiv
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| Autori principali: | , , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| Soggetti: | |
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| _version_ | 1866929720688377856 |
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| author | Joshi, Kaustubh Liu, Tianchen Williams, Alan Gray, Matthew Lin, Xiaomin Chopra, Nikhil |
| author_facet | Joshi, Kaustubh Liu, Tianchen Williams, Alan Gray, Matthew Lin, Xiaomin Chopra, Nikhil |
| contents | Water quality mapping for critical parameters such as temperature, salinity, and turbidity is crucial for assessing an aquaculture farm's health and yield capacity. Traditional approaches involve using boats or human divers, which are time-constrained and lack depth variability. This work presents an innovative approach to 3D water quality mapping in shallow water environments using a BlueROV2 equipped with GPS and a water quality sensor. This system allows for accurate location correction by resurfacing when errors occur. This study is being conducted at an oyster farm in the Chesapeake Bay, USA, providing a more comprehensive and precise water quality analysis in aquaculture settings. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2409_11578 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | 3D Water Quality Mapping using Invariant Extended Kalman Filtering for Underwater Robot Localization Joshi, Kaustubh Liu, Tianchen Williams, Alan Gray, Matthew Lin, Xiaomin Chopra, Nikhil Robotics Water quality mapping for critical parameters such as temperature, salinity, and turbidity is crucial for assessing an aquaculture farm's health and yield capacity. Traditional approaches involve using boats or human divers, which are time-constrained and lack depth variability. This work presents an innovative approach to 3D water quality mapping in shallow water environments using a BlueROV2 equipped with GPS and a water quality sensor. This system allows for accurate location correction by resurfacing when errors occur. This study is being conducted at an oyster farm in the Chesapeake Bay, USA, providing a more comprehensive and precise water quality analysis in aquaculture settings. |
| title | 3D Water Quality Mapping using Invariant Extended Kalman Filtering for Underwater Robot Localization |
| topic | Robotics |
| url | https://arxiv.org/abs/2409.11578 |