In-situ attitude calibration for high resolution bathymetric surveys with underwater robotic vehicles
- 7 November 2002
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 2, 1767-1774
- https://doi.org/10.1109/robot.2000.844851
Abstract
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.Keywords
This publication has 9 references indexed in Scilit:
- Advances in Doppler-based navigation of underwater robotic vehiclesPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2003
- Quantitative photomosaicking of underwater imageryPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- Towards Precision Robotic Maneuvering, Survey, and Manipulation in Unstructured Undersea EnvironmentsPublished by Springer Nature ,1998
- Quantitative seafloor characterization using a bathymetric sidescan sonarIEEE Journal of Oceanic Engineering, 1994
- A comparison of methods for quantitative analysis of sonar imagery and bathymetry.The Journal of the Acoustical Society of America, 1991
- Digital image processing techniques for enhancement and classification of SeaMARC II side scan sonar imageryJournal of Geophysical Research, 1989
- High-frequency bottom backscatter measurements in shallow waterThe Journal of the Acoustical Society of America, 1986
- Beyond bathymetry: Mapping acoustic backscattering from the deep seafloor with Sea BeamThe Journal of the Acoustical Society of America, 1986
- Multibeam bathymetric sonar: Sea beam and hydro chartMarine Geodesy, 1980