Underwater Robot Localization System Based on Encoder Thruster Controller and IMU Sensor BNO055

Abstract

This research develops an underwater robot localization system using an Encoder Thruster Controller (ETC) and a BNO055 IMU sensor to determine x and y positions in real-time. This system is designed to overcome the limitations of GPS use in underwater environments by utilizing the robot's internal motion and orientation data. The Encoder Thruster Controller is used to calculate the distance traveled based on the number of rotations of the thruster propeller, while the BNO055 IMU sensor is used to obtain the yaw orientation value as the direction of the robot's movement. Data from both sensors are integrated using a relative position calculation algorithm to estimate changes in x and y coordinates during movement. A microcontroller such as STM32 plays a role in data acquisition, processing, and sending localization results. Test results show that the system is able to provide fairly accurate and stable position estimates, even when the speed or direction of movement changes.This innovation offers a simple and efficient solution for underwater robot navigation and mapping, without the need for complex external navigation systems.

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