Dynamic positioning system for a small size ROV with experimental results

Dukan, Fredrik; Ludvigsen, Martin; Sørensen, Asgeir J.

doi:10.1109/oceans-spain.2011.6003399

Cited by 39 publications

(25 citation statements)

References 1 publication

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“…This array is known as a magnetometer and they must be calibrated in each axis so that the magnetic field produced by the ROV is subtracted from Earth's magnetic field. Dynamic interferences created by rotating thrusters will cause unwanted noise and generally output rates in commercially available compasses are low, with Bandala et al [136] reporting outputs of a few Hz and Dukan et al [137] observing a delay of 1 or 2 s. This delay would be too large for real time control applications but they offer a cheap heading solution for less sophisticated ROVs.…”

Section: Navigation and Positioning Sensorsmentioning

confidence: 99%

“…There are a number of transducer configurations but, because of the compact size of the equipment and ease of setup, the ultrashort baseline (USBL) navigation system is the most suitable for the inspection-class ROVs. Dukan et al [137] installed dynamic positioning (DP) control in a medium size inspection-class ROV using a DVL and USBL integrated into the system's basic MEMS INS and found that the slow update frequency of the position measurements from the acoustic positioning system resulted in difficulties with the control of the ROV. Zieliński and Zhou [167] conduct a review of USBLs from the leading manufacturers which may be of interest to the reader.…”

Section: Navigation and Positioning Sensorsmentioning

confidence: 99%

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Inspection-Class Remotely Operated Vehicles—A Review

Capocci

Dooly

Omerdić

et al. 2017

JMSE

166

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This paper presents a review of inspection-class Remotely Operated Vehicles (ROVs). The review divides the classification of inspection-class ROVs; categorising the vehicles in order of size and capability. A state of the art technology review is undertaken, discussing various common subsystems of the ROV. Standard and novel ROV shapes and designs are reviewed, with emphasis on buoyancy, frame materials and hydrodynamics. Several power considerations and designs are discussed, accounting for battery fed and mains fed systems. ROV telemetry is split into a discussion on the various transmission hardware systems and the communication protocols that are most widely used in industry and research today. A range of thruster technologies is then introduced with consideration taken of the various thruster architectures available. Finally, the navigation and positioning sensors employed for ROV navigation and control are reviewed. The author has also created a number of comparison tables throughout the review; tables include comparison of wired data transmission technology, comparison of common ROV communication protocols and comparisons of various inertial navigation systems. By the end of the review the reader will have clearer understanding on the fundamentals of inspection-class ROV technologies and can use this as an introduction to further paper investigation.

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Section: Navigation and Positioning Sensorsmentioning

confidence: 99%

Section: Navigation and Positioning Sensorsmentioning

confidence: 99%

Inspection-Class Remotely Operated Vehicles—A Review

Capocci

Dooly

Omerdić

et al. 2017

JMSE

166

View full text Add to dashboard Cite

show abstract

“…The details of control systems for Minerva was presented in [Dukan et al, 2011, Sørensen et al, 2012. When the control objective is dynamic positioning, i.e the goal is to keepη = η d − η = 0, where η d is the desired position, a non-linear PID controller, was used:…”

Section: Mathematical Modelmentioning

confidence: 99%

Navigation System Fault Diagnosis for Underwater Vehicle

Falkenberg

Gregersen

Blanke

2014

IFAC Proceedings Volumes

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This paper demonstrates fault diagnosis on unmanned underwater vehicles (UUV) based on analysis of structure of the nonlinear dynamics. Residuals are generated using different approaches in structural analysis followed by statistical change detection. Hypothesis testing thresholds are made signal based to cope with non-ideal properties seen in real data. Detection of both sensor and thruster failures are demonstrated. Isolation is performed using the residual signature of detected faults and the change detection algorithm is used to assess severity of faults by estimating their magnitude. Numerical simulations and sea trial data show results with very favourable balance between detection and false alarm probabilities. c IFAC 2014.

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“…ROVs are usually equipped with several types of sensors to form an integrated navigation system that overcomes the disadvantages of each type of sensor, and to obtain an accurate position estimation. Applications of ROV integrated navigation are reported in Blain et al (2003), Kinsey and Whitcomb (2004), and Dukan et al (2011). In Blain et al (2003), a navigation system which uses Kalman filtering to merge data received from an acoustic position system, a bathymeter, and a DVL has been developed and implemented in simulation and also in a real submarine.…”

Section: Introductionmentioning

confidence: 99%

“…A more mature application is given in Kinsey and Whitcomb (2004). The new result in Dukan et al (2011) show the integrated navigation system of an ROV with an extended Kalman filter.…”

Section: Introductionmentioning

confidence: 99%

Fault Tolerant ROV Navigation System Based on Particle Filter using Hydro-acoustic Position and Doppler Velocity Measurements

Zhao

Blanke

Skjetne

2012

IFAC Proceedings Volumes

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This paper presents a fault tolerant navigation system for a remotely operated vehicle (ROV). The navigation system uses hydro-acoustic position reference (HPR) and Doppler velocity log (DVL) measurements to achieve an integrated navigation. The fault tolerant functionality is based on a modified particle filter. This particle filter is able to run in an asynchronous manner to accommodate the measurement drop out problem, and it overcomes the measurement outliers by switching observation models. Simulations with experimental data show that this fault tolerant navigation system can accurately estimate the ROV kinematic states, even when sensor failures appear frequently.

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Dynamic positioning system for a small size ROV with experimental results

Cited by 39 publications

References 1 publication

Inspection-Class Remotely Operated Vehicles—A Review

Inspection-Class Remotely Operated Vehicles—A Review

Navigation System Fault Diagnosis for Underwater Vehicle

Fault Tolerant ROV Navigation System Based on Particle Filter using Hydro-acoustic Position and Doppler Velocity Measurements

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