All sensors are in a constant calibration rotation, latest calibration documents for each sensor are available in cruise data structure at Docs/Falkor_too/ROV-SuBastian_Sensor_Calibration_Documents/
Consist of Sprint Model 8084-6510 + Syrnx DVL Model 8275-6530
Preferred source of vehicle position
ROV CRP(Central Reference Point) position combined from filtered USBL data aided by INS and DVL input to Kalman filter algorithm
Claimed accuracy typically 1-5m horizontal, depth-dependent.
ROV CRP is defined as the middle on the lateral thruster(approximate intersection of frame diagonals)
FKt240524_sb_sprint_S0679.txt
| Timestamp | Header | Roll_deg | Pitch_deg | HeadingTrue_deg | OrientStatus | Latitude_ddeg | Longitude_ddeg | PositionStatus | VelocityFwd_m/s | VelocityStbd_m/s | VelocityDown_m/s | Altitude_m | Altitu> |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 2024-06-01T11:15:03.534665Z | $SPRINT | -0.0164795 | -5.80078 | 354.342 | 1 | -23.72759242 | -70.82853447 | 1 | -0.234 | 0.014 | 0.691 | 0 | 0 |
FKt240524_sb_sprint_depth_corr_S0679.txt
| Timestamp | Depth_m |
|---|---|
| 2024-06-01T10:37:49.353369Z | 0.92 |
INS integrated temperature compensated piezo-resistive pressure sensor