MOOS-DAWG'10

iDVLSim

Saban Singh, UMASS Dartmouth

The Doppler Velocity Log (DVL) sensor has many applications such as bottom tracking, current profiling etc. One of the areas that we've been working on is water current profiling for which we plan on using the DVL sensor to read current information. For simulation purpose we've developed a process called iDVLSim.

The iDVLSim process acts as a simulator for the iDVL process. It is responsible for reading and parsing the DVL/ADCP data (.dvl and .pfd log files) and publishing it to the MOOSDB every second.

The iDVLSim can be configured by setting the following;

• dvl file path - Path to the .dvl file
• pfd file path - Path to the .pfd file
• Number of Bins - Number of bins that have been activated for the ADCP data.

The iDVLSim published a MOOS variable DVL_DATA which is of type string and contains the following key/value pairs;

• Latitude and Longitude of the vehicle
• Vehicle speed (on X, Y and Z axis)
• Current Speed (on X, Y and Z axis) for every bin

Currently, the iDVLSim process only handles downward ADCP data (.pfd files) but we're planning to extend it to also read and parse upward ADCP data (.pfu files).

Categories:

• Simulation
• UUVs
• Academia