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Vol. 155, Issue 8, August 2013, pp. 128-135




Water Quality Data Measurement and Analysis System Equipped in Underwater Navigation Robot
Hongmin Gao, Hui Gu, Chenming Li, Junlin Qiu, * Lizhong Xu

College of Computer and Information Engineering, Hohai University, No. 8 Focheng Road, Jiangning District, Nanjing, 211100, China

 * Tel.: +86 25 58099120
E-mail: lzhxu@hhu.edu.cn, banjamin2006@163.com


Received: 16 May 2013   /Accepted: 12 August 2013   /Published: 20 August 2013

Digital Sensors and Sensor Sysstems


Abstract: This paper introduces a water quality data measurement and analysis system equipped in underwater robot. The system consists of sonar navigation module, inertial navigation module equipped in underwater robot, data processing module and sensor detection module. Sonar navigation module and inertial navigation module equipped in underwater robot are separately used to detect current speed, azimuth and depth in different latitudes and longitudes. And then we strike differences of the measured data from two modules above, the difference will be feedback to the inertial navigation module after the filtering process to obtain a more precise location information. Sensor detection module uses the water quality sensors equipped in underwater robot to measure water quality parameters of the current location. Underwater robot data processing module matches the water quality data of the current position to its tracking latitude and longitude, forming water quality of the latitude and longitude distribution data. Underwater robot float to water surface, transmit water quality data to the shore-based facility micro-processor before moving on to the next testing spot. Shore-based facility has its own computer, our self-developed Density Map software is embedded in it. Water quality data from different testing point can be visually displayed. The feasibility of the system design and the rationality of the water quality parameter measurement results were verified by experiments and on-site tests.


Keywords: Water quality monitoring, Underwater robot, Underwater navigation and positioning, Water quality in Longitude and Latitude


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