Mags are used in almost all UAVs. It will be useful and it will be a unique source of information.
Adding a some shielding between the mag and your computers and power lines will greatly reduced the noise. Noise can be further reduced by twisting all of the wires that carry significant current (wires to motors and ESCs).
Be aware that the measurement will ...
You don't gave all information that are needed for such calculations. However, the technical details of the Thrusters give a peak consumption of 350 Watts each. So you have 6 of them, makes overall 2.1kW/h.
Lets assume your Batteries have the following details: 6S 22.2V 3300mAh.
Therefore the amount of energy the Batterie stores is: 22.2V*3.3Ah = 73.26W/h.
I have come across all the suggestions in the other posts. I don't understand why people are suggesting complex and expensive solutions which are also not feasible.
A mechanical seal is the simplest answer for sealing the motor or making it of IP 68. We can use this motor to a depth of 20 m in sea water.
The construction is like a WET pit.
Such types of ...
I think you need to step back a bit and think beyond the math. An (E)KF is used to estimate the true value of a signal in the presence of noise; it's only because of this noise that we even need the algorithm. When you set R to zero you are saying "I have a perfect measurement". In this case there is no need for an estimate.
In practice, I think you have ...
As mentioned in the previous answer, many small, low-cost underwater (and aerial) vehicles use a magnetic compass. You need a good procedure for both hard-iron and soft-iron calibration of your magnetometer. Constantly having to calibrate them sucks, but they're way less expensive than a FOG. With good calibration, you should be able to achieve adequate ...
On one of my remotely controlled boats, I used this design...
The blue discs are flywheels. They are attached to the green rods which are hooked to both sides of a flexible, waterproof membrane. The membrane is fixed to both sides of the casing so it will transmit the motion, but it will not let water through.
We are using for the AUV-Avalon a simulation called Mars
Unfortunately there is no ROS integration, but a Rock integration.
Rock supports HIL in general.
For AUVs there are multiple integrations available which are collected in the mars-core package https://github.com/rock-simulation/...
We are using the P900 multibeam sonar.
So far our interface hasn't any problem. But we requested a new version of the library from teledyne which works now in our case.
sonar = new BVTSDK::Sonar();
head = new BVTSDK::Head();
int ret = sonar->Open("NET", hostAddress);
ret = sonar->GetHead(1, head);
//again error handling
I will ask ...
I understand exactly what you are talking about. I am developing my own ROV that will have a track system and crawl on the sea floor. If I may suggest placing your motor in a high point in your ROV with the gear drive close to the bottom, you can install a pressurized air system that will allow air into the chamber as the ROV goes deeper. Think of it like a ...