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3D Submarine Navigation System - LIDAR + GPS tracker with render

Based on my previous 3D render imaging system , I've created a GPS underwater guidance system.

This showcase ROV was built by ◁♠ Figaro 45 ♤▶ , and he kindly allowed me to use it for demo pourposes ,
check his stuff out , him and his group make some of the best stuff out there .

The original ROV :
https://psteamcommunity.yuanyoumao.com/sharedfiles/filedetails/?id=2812652987&searchtext=rov
https://psteamcommunity.yuanyoumao.com/profiles/76561198164123762

How to operate :
- Scan at the surface always! for better results (if you want to use it for subs)
- Select desired resolution (96,63,32) this is going to change the detail of the render and the lower the res the faster the can
- Hit the scan button
- The render shows the map and an * as your ROV or Submarine , a compass arrow and a vertical line are also shown to know where you are in relation to the bottom

This system works on ROV or Subs , for ROV use composite input (you might have to edit the read channels inside the micro controller )

When adding it your vessel make sure the laser small arrow points backwards , you might have to mirror it if you find the gps coordinates not matching up.


How it works:
The laser measures the depth of each point it hits - dst where aglis given by lxo and lyo wich are the laser composite inputs
The laser also measures each point's GPS coordinate - gx,gy where ax is the left/right angle in the horizontal plane, and cm is the compass input where the ship/sub is pointing. sx,sy,sz are the ships position at the moment of the scan

ax = math.atan(lyo,lxo) + -cm * pi2
agl = math.atan(math.sqrt(lxo^2 + lyo^2), 1)
L = math.sin(agl) * dst
gx = math.cos(ax)*L+ sx
gy = sy - math.sin(ax)*L
dst = math.sqrt(dst^2 - L^2)

Each point attribute is stored in a 96x96 matrix, and the rov/sub point is represented in the scanned point calculated coordinate that matches the rov gps sensor output.

The demo video is filmed using the Hadal submarine , I will not be uploading this version , it is simple to use the micro controller with a sub , and to do it yourself !
https://psteamcommunity.yuanyoumao.com/sharedfiles/filedetails/?id=2808446556&searchtext=hadal

To use this on a sub you need to edit the microcontroller and chage the number inputs from composite to the number ones from the MC . change the ones that are conected to the ones that arent



Use this wherever you want ! Just Leave a thumbs up and fav :) no need for permission to use in your creations

https://psteamcommunity.yuanyoumao.com/sharedfiles/filedetails/?id=3008752429&searchtext=