Application: pHydroMAN_DVLProcessor

Brief Synopsis:

A MOOS app that configures a DVL for under-ice AUV navigation.

Authors:

  • Supun Randeni

Groups:

Distribution:

Documentation:

Contact Email:

  • supun@mit.edu

Function:

pHydroMAN_DVLProcessor is an under-ice navigation related app within Hydroman Toolbox. It uses surface ice drifting speed & heading received from top-side (i.e. ice camp) to compensate the ice-tracking DVL measurements for ice motion. The app also gives the capability to dynamically re-configure the axis frame of the DVL from top-side via a hydroman_engineering DCCL message (this can be useful if the DVL was changed from downward facing to upward facing).