NavCleaner for processing USBL, DVL and hybrid dive tracks

NavCleaner is a program to filter, smooth and interpolate underwater navigation data (USBL, DVL, hybrid). NavCleaner is optimised to process the navigation data of the MARUM ROV QUEST4000 but it can be used to process dive track data from other instruments as well. All calculations are done internally on projected coordinates using the most relevant WGS84 UTM/UPS zone in order to minimize errors. As inputs, NavCleaner can read USBL, DVL, depth, altitude (height above bottom), heading, pitch, and roll data timeseries. A configuration file enables NavCleaner to read a variety of text file formats. The program outputs comma-separated files containing the filtered, smoothed and 1 Hz interpolated navigation timeseries (both geographic coordinates and UTM/UPS coordinates) for all input data timeseries. If both USBL and DVL data are used as inputs, NavCleaner also merges the USBL and DVL data to create a hybrid navigation track. Optionally, NavCleaner can compute the coordinates for every observations in the dive report (Excel format).NavCleaner是一款用于过滤、平滑及插值水下导航数据的程序，支持超短基线（Ultra Short BaseLine, USBL）、多普勒测速仪（Doppler Velocity Log, DVL）及混合模式三类数据。该工具虽针对MARUM水下机器人（Remotely Operated Vehicle, ROV）QUEST4000的导航数据处理做了专项优化，但同样可用于处理其他设备采集的潜水航迹数据。所有计算均基于WGS84世界大地坐标系（World Geodetic System 1984, WGS84）下的最优适配通用横轴墨卡托/通用极球面投影（Universal Transverse Mercator/Universal Polar Stereographic, UTM/UPS）分区的投影坐标系完成，以最大限度降低计算误差。作为输入项，NavCleaner可读取USBL、DVL、水深、距海底高度、航向、俯仰角及横滚角的时间序列数据。配套配置文件可支持NavCleaner读取多种文本文件格式。该程序将输出逗号分隔格式文件，包含针对所有输入时间序列数据经过滤、平滑及1Hz插值后的导航时间序列数据，涵盖地理坐标系坐标与UTM/UPS坐标系坐标两类结果。若同时以USBL和DVL数据作为输入源，NavCleaner还会合并两类数据以生成混合导航航迹。此外，NavCleaner还可针对Excel格式的潜水报告中的每一条观测记录计算对应坐标。