A basis for closed loop ROV control

Author

Greelish, Steven

Author_Institution

SonicWorks, MA, USA

Volume

2

fYear

1999

fDate

1999

Abstract

Summary form only. The SonicWorks Acoustic Positioning System was designed with the attributes required for the next generation of ROV control. The APS system is the basis for a precision position and attitude control of an ROV. The high rate precision positioning and tracking required for control is accomplished with frequency hopping and enhanced computational techniques. A packets in flight concept eliminates the speed of sound limits of previous systems and yields position reports as high a 50-Hertz. The ROV module is provided with 4 pingers to provide a reference for attitude control and a level of redundancy needed in real world operations. It is now practical to raise the mass center of an ROV and increase the degrees of freedom in the closed loop control system

Keywords

attitude control; closed loop systems; position control; remotely operated vehicles; 50 Hz; APS system; SonicWorks Acoustic Positioning System; attitude control; closed loop ROV control; closed loop control system; degrees of freedom; frequency hopping; packets in flight; pingers; position control; precision positioning; Control systems; Frequency; Remotely operated vehicles; Weight control;

fLanguage

English

Publisher

ieee

Conference_Titel

OCEANS '99 MTS/IEEE. Riding the Crest into the 21st Century

Conference_Location

Seattle, WA

Print_ISBN

0-7803-5628-4

Type

conf

DOI

10.1109/OCEANS.1999.804761

Filename

804761