Low-cost underwater localisation using single-beam echosounders and inertial measurement units

• Main Authors: Abu Bakr Azam, Kong, Ze Jie, Ng, Sing Yew, Scherrer, Michael Florian, Elhadidi, Basman, Seet, Gerald, Zheng, Jianmin, Cai, Yiyu
• Other Authors: Interdisciplinary Graduate School (IGS)
• Format: Conference or Workshop Item
• Language: English
• Published: 2023
• Subjects: Engineering::Mechanical engineering::Robots; Underwater Robot; SONAR Sensor
• Online Access: https://hdl.handle.net/10356/165700; https://proceedings-limerick.oceans2023.org/session.cfm?sid=21
• Institution: Nanyang Technological University

Underwater robot localisation is challenging as it cannot rely on sensors such as the GPS due to electromagnetic wave attenuation or optical cameras due to water turbidity. SONARs are immune to these issues, hence they are used as alternatives for underwater navigation despite lower spatial and temp...