Architecture of a Low-Cost Solution for ROVs to Improve Navigation and Data Collection

The documentation, conservation, and preservation of underwater archaeological sites is conventionally performed by divers in shallow waters. However, when dealing with significant depths, the sites can be inaccessible for humans, presenting significant challenges and risks, making these activities hazardous. Recently, the use of robotic platform such as remotely operated vehicles (ROVs) allows to overcome the difficulty of such a harsh environment. Nevertheless, professional-grade ROVs employed for this purpose are expensive and specifically designed with integrated advanced sensor systems for data acquisition and navigation. In the context of the MSCA-RISE H2020 Technological Consortium TO develop sustainability of underwater Cultural heritage (TECTONIC) project, a solution consisting of an optical payload and an acoustic localization system for low-cost ROV, was defined in order to support ROV pilots during documentation and monitoring activities. The project aims to preserve underwater cultural heritage (UCH) encompassing the selection of a commercially available ROV and the definition of a customized hardware/software (HW/SW) architecture. After market research, a suitable commercial off-the-shelf (COTS) low-cost ROV was defined and used as the foundation for integration. Mechanical, electric, and data interface modules were designed to seamlessly integrate and manage the sensor suite. The results of the integration demonstrate the potential of the chosen algorithms and the sensor suite for improved navigation and data collection in challenging underwater environments, where high-grade and expensive sensors are not available, thereby making more accessible the field of underwater survey missions.