用机器人实现浅水区三维水质地图绘制，定位更准。
3D Water Quality Mapping using Invariant Extended Kalman Filtering for Underwater Robot Localization
- 结合GPS与水质传感器，通过上浮修正定位误差
- 在切萨皮克湾牡蛎养殖场完成实地验证
- 适合水产养殖环境的高精度水质监测
温度、盐度和浊度等关键参数的水质映射对评估水产养殖场健康状况和产量能力至关重要。传统方法依赖船只或人工潜水员，存在时间限制且无法覆盖不同水深。本研究提出一种创新方法，利用配备GPS和水质传感器的BlueROV2机器人，在浅水区实现三维水质地图绘制。当定位出现误差时，系统可通过上浮进行位置校正。该研究在位于美国切萨皮克湾的牡蛎养殖场开展，为水产养殖环境提供了更全面、精确的水质分析。
原文摘要 · Abstract (English)
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.
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