Precision Underwater Mapping: AUV Control and Image Mosaics Powered by Single-Beam SONARs

Mohammad Aasim Khan, Abu Bakr Azam, Brendon Lew, Jannatul Arfiyah Siti, Trung Kien Nguyen, Basman Elhadidi, Yiyu Cai

2025

Closed access Metadata (CSL-JSON)
DOI 10.1109/oceans58557.2025.11104352
Data confidence 70 medium
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Abstract

This study presents a low-cost closed-loop control system for Autonomous Underwater Vehicles (AUVs) designed for precise positioning and trajectory correction during underwater mapping. The system fuses data from an Inertial Measurement Unit and Single-Beam SONARs using a Kalman Filter to mitigate sensor drift and noise. By employing an ESP32 microcontroller with Robot Operating System (ROS) and the companion Micro-ROS stack, the approach offers a fully reprogrammable, cost-effective alternative to AUV control. Preliminary testing indicates promising performance, suggesting that this solution can reduce power consumption and improve localization in resource-constrained underwater applications.