VIA-SLAM: An Underwater Visual-InertialAcoustic SLAM with Integrated DVL
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The attachment "serial_data_dvl_20240729.txt" presents the DVL sensor data collected during the experiment in this paper, including information such as timestamps, transducer data, and velocity. The line beginning with "wru" indicates the status and information of the four transducers. The four data points following "wrx" represent, in sequence, the time interval since the last data collection (in milliseconds), x-axis velocity, y-axis velocity, and z-axis velocity. The four numbers following "wrt" represent the distances from the four transducers to the seabed. The three numbers following "wrz" represent the velocity information in the three axes. The primary data used in this paper is the information from the line starting with "wrx." For example, in the line "1722245789650777101, wrx, 107.85, 0.434, 0.215, 0.059, 0.005, 1.60, y, 09b", "1722245789650777101" represents the timestamp; "107.85" indicates that 107.85 ms have passed since the last data collection; "0.434" indicates the x-axis velocity of the DVL at this moment is 0.434 m/s; "0.215" indicates the y-axis velocity is 0.215 m/s; "0.059" indicates the z-axis velocity is 0.059 m/s; "0.005" represents the quality factor; "1.60" indicates the measured distance to the seabed is 1.60 m; "y" indicates the data is valid; and "09b" indicates that the DVL is in normal working condition.The attachment "serial_data_rtk_20240729.txt" presents the RTK sensor data collected during the experiment in this paper, which includes information such as timestamps, position, attitude, and velocity. Taking the line "1722245789806417942, #INSPVAA, COM1, 0, 93.8, FINESTEERING, 2325, 121008.000, 00000000, 03db, 782; 2325, 121008.000000000, 33.02843049153, 118.49916303653, 14.1339, -0.0959, 0.4859, -0.0016, 3.396547636, 0.533631338, 57.251512064, INS_SOLUTION_GOOD*65c464fd" as an example: "1722245789806417942" represents the timestamp of the data; "33.02843049153, 118.49916303653, 14.1339" are the latitude, longitude, and altitude data, respectively. These three pieces of position data (latitude, longitude, and altitude) are the primary data used in the paper's experiment, while the timestamp represents when this data was recorded.
附件“serial_data_dvl_20240729.txt”包含本文实验中采集的多普勒测速仪（DVL, Doppler Velocity Log）传感器数据，涵盖时间戳、换能器数据、速度等信息。以“wru”起始的行用于标注四个换能器的状态与相关信息。“wrx”后的四个数据点依次为自上次数据采集以来的时间间隔（单位：毫秒）、x轴速度、y轴速度与z轴速度。“wrt”后的四个数字分别代表四个换能器至海底的距离。“wrz”后的三个数字为三轴速度信息。本文所用核心数据为以“wrx”起始的行中的相关信息。例如行"1722245789650777101, wrx, 107.85, 0.434, 0.215, 0.059, 0.005, 1.60, y, 09b"中：“1722245789650777101”代表该数据的时间戳；“107.85”表示自上次数据采集已过去107.85毫秒；“0.434”代表此时DVL的x轴速度为0.434 m/s；“0.215”表示y轴速度为0.215 m/s；“0.059”表示z轴速度为0.059 m/s；“0.005”为品质因数；“1.60”代表实测海底距离为1.60 m；“y”表示数据有效；“09b”代表DVL处于正常工作状态。 附件“serial_data_rtk_20240729.txt”包含本文实验中采集的实时动态差分（RTK, Real-Time Kinematic）传感器数据，涵盖时间戳、位置、姿态与速度等信息。以行"1722245789806417942, #INSPVAA, COM1, 0, 93.8, FINESTEERING, 2325, 121008.000, 00000000, 03db, 782; 2325, 121008.000000000, 33.02843049153, 118.49916303653, 14.1339, -0.0959, 0.4859, -0.0016, 3.396547636, 0.533631338, 57.251512064, INS_SOLUTION_GOOD*65c464fd"为例：“1722245789806417942”代表该数据的时间戳；“33.02843049153, 118.49916303653, 14.1339”依次为纬度、经度与海拔数据。上述三组位置数据（纬度、经度、海拔）为本文实验所用的核心数据，时间戳则代表该数据的记录时刻。
