VIA-SLAM: An Underwater Visual-InertialAcoustic SLAM with Integrated DVL

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.