Sonar based navigation system for an underwater vehicle
This paper describes the design and development of a navigation system for a small remotely operated underwater vehicle (ROV). The navigation system uses sonar to localise the vehicle with respect to underwater structures. The navigation system has been successfully implemented. This has required ca...
| Main Authors: | , , |
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| Format: | Journal article |
| Language: | English |
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Soc Underwater Technol
1998
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| _version_ | 1826263632604823552 |
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| author | Smith, R Frost, A Probert, P |
| author_facet | Smith, R Frost, A Probert, P |
| author_sort | Smith, R |
| collection | OXFORD |
| description | This paper describes the design and development of a navigation system for a small remotely operated underwater vehicle (ROV). The navigation system uses sonar to localise the vehicle with respect to underwater structures. The navigation system has been successfully implemented. This has required careful construction of an estimator. Through implementation, we have shown that, with sufficient sensor information, a relatively straight-forward vehicle model is sufficient. This is beneficial both in reduced computation time, and since it involves a small number of easily measurable physical parameters. Experimental results are shown for the localisation system combined with a simple control system. |
| first_indexed | 2024-03-06T19:54:53Z |
| format | Journal article |
| id | oxford-uuid:25382273-f98f-48c2-9450-92f75a92dd43 |
| institution | University of Oxford |
| language | English |
| last_indexed | 2024-03-06T19:54:53Z |
| publishDate | 1998 |
| publisher | Soc Underwater Technol |
| record_format | dspace |
| spelling | oxford-uuid:25382273-f98f-48c2-9450-92f75a92dd432022-03-26T11:54:26ZSonar based navigation system for an underwater vehicleJournal articlehttp://purl.org/coar/resource_type/c_dcae04bcuuid:25382273-f98f-48c2-9450-92f75a92dd43EnglishSymplectic Elements at OxfordSoc Underwater Technol1998Smith, RFrost, AProbert, PThis paper describes the design and development of a navigation system for a small remotely operated underwater vehicle (ROV). The navigation system uses sonar to localise the vehicle with respect to underwater structures. The navigation system has been successfully implemented. This has required careful construction of an estimator. Through implementation, we have shown that, with sufficient sensor information, a relatively straight-forward vehicle model is sufficient. This is beneficial both in reduced computation time, and since it involves a small number of easily measurable physical parameters. Experimental results are shown for the localisation system combined with a simple control system. |
| spellingShingle | Smith, R Frost, A Probert, P Sonar based navigation system for an underwater vehicle |
| title | Sonar based navigation system for an underwater vehicle |
| title_full | Sonar based navigation system for an underwater vehicle |
| title_fullStr | Sonar based navigation system for an underwater vehicle |
| title_full_unstemmed | Sonar based navigation system for an underwater vehicle |
| title_short | Sonar based navigation system for an underwater vehicle |
| title_sort | sonar based navigation system for an underwater vehicle |
| work_keys_str_mv | AT smithr sonarbasednavigationsystemforanunderwatervehicle AT frosta sonarbasednavigationsystemforanunderwatervehicle AT probertp sonarbasednavigationsystemforanunderwatervehicle |