Underwater navigation sensors calibration in inland water spaces

摘要

This paper describes the calibration of an underwater navigation system in enclosed scenarios. The work was performed in the context of the VAMOS project addressing the development of robotic solutions for flooded open pit mine exploration. An algorithm for calibration of extrinsic parameters for DVL and USBL systems is presented. Field experiments were performed with the ROAZ autonomous surface vehicle equipped with the underwater sensors and using precision IMU/GNSS fused data as groundtruth. The tests were performed in Douro River and in the Bejanca open pit mine, one of the VAMOS test sites, both in northern Portugal. The procedure was validated in the operational scenarios and results are presented showing the error correction and navigation quality improvement.