Sea floor geometry approximation and altitude control of ROVs
| Autor: | Fredrik Dukan, Asgeir J. Sørensen |
|---|---|
| Rok vydání: | 2014 |
| Předmět: |
Engineering
Observer (quantum physics) business.industry Applied Mathematics Sea trial Astrophysics::Instrumentation and Methods for Astrophysics Geometry Remotely operated vehicle Remotely operated underwater vehicle Geodesy Computer Science Applications Altitude Control and Systems Engineering Control system Physics::Space Physics Electrical and Electronic Engineering business Guidance system Physics::Atmospheric and Oceanic Physics Seabed Marine engineering |
| Zdroj: | Control Engineering Practice. 29:135-146 |
| ISSN: | 0967-0661 |
| Popis: | This paper presents a method for sea floor geometry approximation in a local region beneath a remotely operated vehicle (ROV) for use in altitude control. The method is based on Doppler velocity log (DVL) altitude measurements and ROV state estimates. The ROV altitude and sea floor gradient, which are obtained from the sea floor approximation, are used in a guidance law for altitude control. The altitude observer and guidance law have been implemented in the control system of NTNU׳s ROV Minerva. Results from simulations and sea trials demonstrating the performance of the proposed altitude estimation and guidance system are presented in the paper. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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