ROV hardware in-the Sample Clauses

ROV hardware in-the loop This experiment simulates the human with a remotely operated vehicle (ROV) equipped with the acoustic transponder. The ASV carries the USBL thus introducing the real acoustic channel uncertainties but eliminating those caused by the diver. This simulation is designed to identify potential deterioration in system performance due to the acoustic channel characteristics and the overall influence of the acoustic positioning system in the diver following scenario. While in the earlier simulation there was a ground truth diver position to compare the tracking error in this experiment it is unavailable. The ROV system has no localization of its own that could be used. To alleviate the lack of ground truth a camera is added on the ASV to have the option of detecting the diver position from direct observation. Although the video does not represent an absolute ground truth it provides better precision than the USBL system in shallow water with good visibility. The ROV approach allows testing of the complete system without unnecessarily endangering divers with an untested acoustic positioning system. The ROV does not carry the tablet which is used to decode and display the diver underwater position. However, the tablet can be utilised on shore by the ROV operator or diver in-training by connecting the underwater modem and tablet through the ROV tether. Results in Fig. 5.4.3.1 show 10 min. of the experiment, for the sake of clarity. Result show that the mean tracking error based on acoustic measurements in this setup is about 1 m which lets us conclude that the inclusion of the acoustic sensor uncertainty increases the tracking error by 0.5 m.
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