Title :
Short range position measurement systems for underwater vehicle dynamic positioning
Author :
Soares da Cunha, J.P.V. ; Costa, Ramon R. ; Hsu, L. ; Meyer Sant´Anna, A.C.C.
Author_Institution :
Coordenacao de Eletronica, CEFET, Rio de Janeiro, Brazil
Abstract :
This paper presents a comparative study of position measurement systems for dynamic positioning (DP) of remotely operated underwater vehicles (ROV´s) based on: speed logs, inertial navigation, long or short baseline acoustic systems, taut-wire and passive arm (PA). From this study, the PA was selected as the most adequate system for ROV DP when the tasks are to be performed only in a limited neighborhood of some underwater structure. A prototype passive arm based DP system is currently being designed. Simulations and preliminary experimental results have indicated that the proposed system can achieve satisfactory performance
Keywords :
inertial navigation; marine systems; position measurement; robots; acoustic systems; inertial navigation; passive arm; remotely operated underwater vehicles; short range position measurement systems; speed logs; taut-wire; underwater vehicle dynamic positioning; Costs; Hardware; Inertial navigation; Petroleum; Position measurement; Remotely operated vehicles; Underwater structures; Underwater vehicles; Vehicle dynamics; Velocity measurement;
Conference_Titel :
OCEANS '93. Engineering in Harmony with Ocean. Proceedings
Conference_Location :
Victoria, BC
Print_ISBN :
0-7803-1385-2
DOI :
10.1109/OCEANS.1993.326144
