VIA-SLAM: An Underwater Visual-InertialAcoustic SLAM with Integrated DVL

The attachment "serial_data_dvl_20240729.txt" presents the DVL sensor data collected during the experiment in this paper, including information such as timestamps, transducer data, and velocity. The line beginning with "wru" indicates the status and information of the four transducers. The four data points following "wrx" represent, in sequence, the time interval since the last data collection (in milliseconds), x-axis velocity, y-axis velocity, and z-axis velocity. The four numbers following "wrt" represent the distances from the four transducers to the seabed. The three numbers following "wrz" represent the velocity information in the three axes. The primary data used in this paper is the information from the line starting with "wrx." For example, in the line "1722245789650777101, wrx, 107.85, 0.434, 0.215, 0.059, 0.005, 1.60, y, 09b", "1722245789650777101" represents the timestamp; "107.85" indicates that 107.85 ms have passed since the last data collection; "0.434" indicates the x-axis velocity of the DVL at this moment is 0.434 m/s; "0.215" indicates the y-axis velocity is 0.215 m/s; "0.059" indicates the z-axis velocity is 0.059 m/s; "0.005" represents the quality factor; "1.60" indicates the measured distance to the seabed is 1.60 m; "y" indicates the data is valid; and "09b" indicates that the DVL is in normal working condition.

   The attachment "serial_data_rtk_20240729.txt" presents the RTK sensor data collected during the experiment in this paper, which includes information such as timestamps, position, attitude, and velocity. Taking the line "1722245789806417942, #INSPVAA, COM1, 0, 93.8, FINESTEERING, 2325, 121008.000, 00000000, 03db, 782; 2325, 121008.000000000, 33.02843049153, 118.49916303653, 14.1339, -0.0959, 0.4859, -0.0016, 3.396547636, 0.533631338, 57.251512064, INS_SOLUTION_GOOD*65c464fd" as an example: "1722245789806417942" represents the timestamp of the data; "33.02843049153, 118.49916303653, 14.1339" are the latitude, longitude, and altitude data, respectively. These three pieces of position data (latitude, longitude, and altitude) are the primary data used in the paper's experiment, while the timestamp represents when this data was recorded.