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  • About
  • The Global ETD Search service is a free service for researchers to find electronic theses and dissertations. This service is provided by the Networked Digital Library of Theses and Dissertations.
    Our metadata is collected from universities around the world. If you manage a university/consortium/country archive and want to be added, details can be found on the NDLTD website.
1

Navigational Assistance for Mini-ROV

Carlsen, Andreas Løberg January 2010 (has links)
In this thesis a simple and low-cost aided inertial navigation system is presented which can be used to automate underwater search operations. The system is designed and implemented to be compatible with a VideoRay Pro 3 tethered mini-ROV. Inertial-, compass- and pressure measurements are collected with a dedicated embedded system and transferred to the surface for processing. System states are estimated, compared against a user specified pattern and used to generate path-following control inputs. The system is tested on a small scale and the results obtained through camera-based measurements show acceptable performance for short time intervals.

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