Group: Sensors

Group Description: (16 modules)

The MIT Sea Grant AUV Lab Codebase contains a set of modules for supporting autonomous marine surface craft.

Modules:

  • pHydroMAN_BasicModel: A hydrodynamic model aided navigation system for AUVs.
  • pHydroMAN_DVLProcessor: A MOOS app that configures a DVL for under-ice AUV navigation.
  • pHydroMAN_LBLProcessor: A MOOS app that corrects the time-lag of an acoustic position fix.
  • pHydroMAN_ModelCalibrator: A MOOS app that calibrates the basic AUV dynamic model in real-time.
  • pHydroMAN_SensorFusion: An EKF based sensor fusion app for AUV navigation.
  • iAHRS: A driver for the MicroStrain 3DM-GX1 AHRS unit.
  • pCamera: A MOOS video display application.
  • pLidarSim: GPU-accelerated lidar simulator.
  • pSonarSim: GPU-accelerated sonar sim to predict time-domain sonar returns.
  • pCloud: MOOS App for displaing real and simulated point cloud data.
  • pOctree: Convert real or simulated point cloud data into 3-D maps.
  • iRadar: An application for interfacing with the Navico 4G marine radar.
  • iWebCam: An application for general USB type webcameras.
  • iZedCam: An application for the ZED Stereocamera.
  • uShowCamera: An application for displaying camera video.
  • uShowRadar: An application for displaying marine radar data.