Localization of a Floating Buoy in a Fish Farming Pen
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This thesis proposes a solution to localize a floating buoy in a fish farming pen.The task is provided by Stingray Marine Solutions and is meant to be an integrated part of their optical delousing system.The solution proposed uses ultra-wideband ranging sensors (DecaWave DW1000) to measure the distance from three anchor nodes to a tag on the buoy.The sensors were tested using a test kit delivered by DecaWave.To validate the sensors' suitability for the localization task, several test cases were designed.The test cases were designed to test the sensors localization abilities and robustness in an environment similar to the expected environment in a fish farming pen.Two different setup configurations of the anchor nodes were examined.One with the anchor nodes positioned on a line and one were the anchors were distributed around the edge of the pen.Through simulations and experimental tests, it was concluded that the best setup of the nodes was to be distributed around the pen edge.By using a Kalman filter or a Least squares estimator, the system achieved to localize a stationary tag within a distance of 10 and 14 centimeters respectively for 96\% of the sample points. The tests examining the feasibility of using the sensors in a relevant environment showed that the sensors were able to perform sufficiently when the antenna was slightly above the water surface.When lowered such that there was significant amount of water between the anchor antennas and the tag the signal was lost. Because of the promising results in this thesis, it was proposed to go through with developing appropriate sensor modules and testing said modules in a fish farm pen.