ASV data logger for bathymetry mapping system

摘要

In this paper, Autonomous Surface Vehicle (ASV) is designed to operate automatically for bathymetry mapping system. With Haversine formula, ASV is able to navigate automatically to the waypoints that have been set in the application. Global Positioning System (GPS) is the main part of the ASV to receive the data such as latitude and longitude coordinates. Here, suitable data logger is proposed. The strings that are sent from the ASV are able to be read from the Graphical User Interface (GUI) and Secure Digital (SD) card. The data received is then being processed using software algorithms from Arduino microcontroller. The idea of the algorithm based on Haversine formula is to calculate the distance of the current location to the destination location. Besides, while the boat is moving towards the destination, digital compass helps the boat to move precisely. When the boat is moving, data logger system which is placed inside the boat sends the data to the control station for further processing by using the application which is built for this project. This application can split the data in real-time and log the data in text format. The data is post-processed for mapping inside the lake. This research provides further understanding in bathymetry application.