Positioning and telemetry from ROV survey PS122/5_60-166 on 2020-09-04, survey 2@en

The horizontal position of the remotely operated vehicle (ROV) during the Multidisciplinary drifting Observatory for the Study of Arctic Climate (MOSAiC) expedition between November 2019 and September 2020 was measured using an acoustic Long Base Line (LBL) positioning system (LinkQuest Pinpoint). The position was recorded in the SPOT.ON survey systems software (OceanModulesTM). The track was smoothed from initial acoustic fixes and cleaned for most obvious outliers. The position is in a floe-fixed, relative coordinate system (X, Y) with the origin (X=0 m, Y=0 m) at the ROV hole. A quality flag for the position is introduced based on the time to the closest fix with “1” indicating good positon (fix reached <= 3s), “2” medium position (fix reached > 3s & <= 5s), and “3” bad position (fix reached > 5s). Depending on the scientific aim, a position with quality flag “3” can still be useful. Vehicle depth was measured by the integrated pressure sensor and calibrated to 0 during pre-survey procedures, when the top side of the vehicle was at the same level as the water surface. Vehicle attitude (roll, pitch, heading) was measured with an onboard inertial measuring unit (IMU, Microstrain) with three axis accelerometer, magnetometer and gyroscope. Depth was measured by a pressure sensor (Keller A-21Y, Keller AG) included in the main electronics housing of the ROV.本数据集收录了2019年11月至2020年9月期间，北极气候研究多学科漂流观测站（Multidisciplinary drifting Observatory for the Study of Arctic Climate，MOSAiC）考察任务中遥控水下机器人（Remotely Operated Vehicle，ROV）的水平位置数据。该水平位置通过声学长基线（Long Base Line，LBL）定位系统（LinkQuest Pinpoint）采集，并记录于SPOT.ON测量系统软件（OceanModules™）中。原始声学定位结果已完成轨迹平滑处理，并剔除了绝大多数明显异常值。位置数据采用以ROV开孔处为原点（X=0 m，Y=0 m）的浮冰固定相对坐标系（X, Y）。本数据集针对位置数据引入了质量标记规则：以距最近一次有效定位的时长作为判定依据，其中“1”代表优质定位（定位响应时长≤3s），“2”代表中等质量定位（3s < 定位响应时长≤5s），“3”代表低质量定位（定位响应时长>5s）。需说明的是，根据具体科学研究目标，质量标记为“3”的位置数据仍具备使用价值。ROV的深度由集成压力传感器测得，并在预调研阶段完成校准——预调研时机器人顶部与水面处于同一水平面。机器人的姿态（横滚、俯仰、航向）由搭载的惯性测量单元（Inertial Measuring Unit，IMU，Microstrain）测得，该单元集成了三轴加速度计、磁强计与陀螺仪。深度同时由集成于ROV主电子舱内的压力传感器（Keller A-21Y，Keller AG）测得。