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Sensing the Position of a Remotely Operated Underwater Vehicle

  • E. Kreuzer
  • F. C. Pinto
Conference paper
Part of the International Centre for Mechanical Sciences book series (CISM, volume 361)

Abstract

The importance of remotely operated underwater vehicles for construction, inspection, and maintenance of off-shore structures has been continuously increasing in the recent years. Especially oil prospecting in water depths inaccessible for human divers (>300m) needs unmanned vehicles. For a great variety of tasks a robust positioning control of the vehicle is required. This control is complicated not only due to nonlinearities involved in the system including the umbilical and parameter uncertainties [1,7] but also because of the lack of precise position information. The positioning problem can be split into two domains:
  • the region far from the structure, where the navigation from the basis ship to the structure takes place and

  • the region close to the structure, where the position of the vehicle relative to the structure must be kept for a task to be performed.

Keywords

Underwater Vehicle Inertial Navigation System Inertial Reference Frame Small Step Size Unmanned Vehicle 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Wien 1995

Authors and Affiliations

  • E. Kreuzer
    • 1
  • F. C. Pinto
    • 1
  1. 1.Technical University of Hamburg-HarburgHamburgGermany

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