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Absolute localization of an ROV in a Fish Pen using Laser Triangulation

Abstract

This paper proposes a low-cost solution for localizing a remotely operated vehicle (ROV) inside a fish net pen. The solution consists of a kinematic Kalman Filter capable of estimating the absolute ROV position and orientation in a fish net pen using primarily the onboard compass, laser-camera triangulation, and a model of the cylindrical net pen. The solution is demonstrated in a real fish net pen, under realistic operating conditions, and the performance is comparable to that of specialized positioning sensor systems such as ultra short baseline systems and Doppler velocity loggers.

Category

Academic article

Client

  • Research Council of Norway (RCN) / 237790

Language

English

Affiliation

  • SINTEF Digital / Mathematics and Cybernetics
  • SINTEF Digital / Smart Sensors and Microsystems
  • SINTEF Ocean / Aquaculture

Year

2023

Published in

Mediterranean Conference on Control and Automation (MED)

ISSN

2325-369X

Volume

31

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