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In the site survey of a four-sided traverse, internal angles are essential to ensure geometric accuracy. The survey revealed that the sum of the measured internal angles was 359 degrees and 48 minutes, which is 12 minutes less than the expected 360 degrees. This discrepancy signals an error likely arising from measurement inaccuracies during the fieldwork.To rectify this error, the adjustment process involved distributing the 12-minute shortfall equally across the four internal angles. By...
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AUV Navigation Correction Based on Automated Multibeam Tile Matching.

Jochen Mohrmann1, Jens Greinert2

  • 1DeepSea Monitoring/Marine Geosystems, GEOMAR Helmholtz Centre for Ocean Research Kiel, 24148 Kiel, Germany.

Sensors (Basel, Switzerland)
|February 15, 2022
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Summary
This summary is machine-generated.

This study introduces a novel algorithm for underwater navigation, enhancing seafloor map accuracy by aligning multibeam echosounder data. The method improves map quality and precision for ocean science and hydroacoustic mapping applications.

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AUVMBESbathymetric datadeep seamultibeamterrain based navigation

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Area of Science:

  • Oceanography
  • Marine Geophysics
  • Hydrographic Surveying

Background:

  • Accurate underwater navigation is critical for ocean science and hydroacoustic seafloor mapping.
  • Multibeam echosounder systems provide terrain data that can enhance navigation accuracy.
  • Existing methods may require improvements in map quality and precision.

Purpose of the Study:

  • To present a new algorithm for improving underwater navigation accuracy.
  • To enhance seafloor map quality by exploiting terrain information from multibeam echosounders.
  • To provide a method suitable for post-processing and potentially online navigation.

Main Methods:

  • An algorithm aligning consecutive multibeam echosounder pings to pairwise matched tiles.
  • Calculation of a globally consistent navigation solution from matched ping data.
  • Testing the algorithm on AUV and ship-based datasets, including a publicly available benchmark.

Main Results:

  • The algorithm demonstrated improved map quality and accuracy in tests.
  • Quantitative comparisons were enabled by ground truth data and artificially drifted trajectories.
  • The method's performance was evaluated across different parameter settings.

Conclusions:

  • The proposed algorithm effectively improves underwater navigation and seafloor map accuracy.
  • The method is primarily targeted for post-processing but has potential for online use.
  • The availability of benchmark datasets facilitates further research and algorithm validation.