May 24, 2022
Title: Development of the Subwave ROV and Neural-Inertial Positioning System
When: June 9th at 2:00pm
Candidate: Jason Farmer
This report documents my development of the Subwave, a remotely operated underwater vehicle (ROV), and an artificial neural network based inertial positioning system, dubbed the Neural-Inertial Positioning System. The Subwave is an ArduSub based ROV designed as a platform for researching autonomous underwater vehicles (AUVs). The first step for an AUV is navigating waypoints, which requires the AUV to know its global position. Since GNSS is denied underwater, I began experimenting and designing a small, low-cost system that employs an artificial neural network to predict latitude and longitude using MEMS IMU data as inputs, which would become the Neural-Inertial Positioning System.