NavCleaner (OFOS Edition) for processing raw Posidonia USBL datagrams

The NavCleaner (OFOS Edition) is a program that filters, smooths and interpolates USBL navigation data. The NavCleaner (OFOS Edition) is optimised to process the navigation tracks of the AWI OFOS and OFOBS instruments but it can be used to process Posidonia USBL data from other instruments as well. As input it only requires a text file containing raw USBL datagrams. The program outputs comma-separated files containing the filtered, smoothed and 1 Hz interpolated navigation timeseries (both geographic coordinates and UTM/UPS coordinates). All calculations are done internally on projected coordinates using the most relevant WGS84 UTM/UPS zone in order to minimize errors. If used with the OFOS / OFOBS platforms, the NavCleaner (OFOS Edition) can optionally read and interpolate the altimeter data from the photos' EXIF metadata, and compute the coordinates for every photo as well as for every observations in the dive report (Excel format). A dive report template is provided, which can also be used with other platforms.NavCleaner（OFOS版）是一款用于对超短基线（Ultra Short Baseline，USBL）导航数据开展滤波、平滑与插值处理的专业程序。该程序针对AWI OFOS与OFOBS仪器的导航航迹处理进行了针对性优化，同时也可用于处理其他仪器采集的Posidonia系列USBL数据。程序仅需包含原始USBL数据报的文本文件即可作为输入，其输出为逗号分隔格式文件，内含经滤波、平滑及1赫兹插值后的导航时间序列数据，涵盖地理坐标与UTM/UPS坐标两类形式。为最大限度降低计算误差，所有运算均基于最适配的世界大地坐标系1984（WGS84）下的UTM/UPS投影带在程序内部完成。若搭配OFOS/OFOBS平台使用，NavCleaner（OFOS版）可选择性读取并插值处理照片的可交换图像文件格式（Exchangeable Image File Format，EXIF）元数据中的高度计数据，同时可计算每张照片的坐标，以及潜水报告（Excel格式）中每条观测记录的坐标。官方配套提供了潜水报告模板，该模板同样可适配其他仪器平台。

搜集汇总

背景与挑战

背景概述

该数据集是NavCleaner (OFOS Edition)程序，发布于2019年，专门用于处理原始Posidonia USBL导航数据，通过过滤、平滑和插值生成1 Hz时间序列的坐标文件。程序优化用于AWI OFOS和OFOBS仪器，但兼容其他Posidonia USBL设备，并支持处理照片元数据和潜水报告坐标计算。