LimnoVIS - A Robotic Surface Vehicle for Spectral Measurements in Inland Waters

Abstract

Spectral measurements in aquatic remote sensing are usually carried out from ships, boats or stationary platforms. While the latter only covers a single location, mobile platforms can introduce significant errors due to unexpected movement (drift and rotation), reflection and shadowing effects from the ship’s hull, superstructures and the personnel conducting the measurements. To overcome these caveats, we developed the low-profile robotic platform LimnoVIS that can be operated autonomously or remotely controlled and is capable of keeping its position and orientation accurately through its omnidirectional maneuverability. The onboard measurement system comprises a VIS/NIR spectrometer (350-880 nm, 1 nm resolution) which is connected to four different optics via a fiber optical switch. This allows for rapid subsequent measurement of upwelling radiance above and under water, sky radiance and downwelling irradiance using reflectance standards or a cosine corrector, all by the same spectrometer. LimnoVIS carries also a profiler, which can be lowered by up to 30 m. It is equipped with a spectrometer and a tiltable diffusor for measuring benthic reflectance, LED and halogen lamps, a laser range finder, a camera, and sensors for temperature and pressure. Multiple onboard cameras with recording and live viewing capabilities are used for navigation, visual supervision and documentation of the measurements and for compiling shallow-water orthomosaics. Furthermore, LimnoVIS is equipped with a sonar for deriving bathymetry in the range of 0.5 to 30 m.