This report presents a novel system design for unmanned surface vehicles, enhancing telemetry and motion estimation techniques.
The frontiers of oceanographic survey and environmental monitoring have been expanded with the rapid development of Unmanned Surface Vehicles (USVs). This report presents the design and construction of a USV based on the ArduSub firmware. Through a stable control architecture and MAVLink communication, the system can be customized for surface applications. The proposed system consists of a modular vehicle design, a high-rate data transmission link implemented using the Pymavlink, and a remote control via the standard joystick protocols. In order to enhance the performance of motion estimation, the triaxial accelerometer is calibrated using the nine-parameter ellipsoid fitting technique, which removes bias, scale factors, and axis misalignment errors. The system is also scalable, providing opportunities for future development in autonomous navigation and multi-sensor integration.
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Zhu et al. (2026) studied this question.