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dc.contributor.advisorAlfredsen, Jo Arvenb_NO
dc.contributor.authorCarlsen, Andreas Løbergnb_NO
dc.date.accessioned2014-12-19T14:03:17Z
dc.date.available2014-12-19T14:03:17Z
dc.date.created2010-11-04nb_NO
dc.date.issued2010nb_NO
dc.identifier360686nb_NO
dc.identifierntnudaim:5386nb_NO
dc.identifier.urihttp://hdl.handle.net/11250/260242
dc.description.abstractIn 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.nb_NO
dc.languageengnb_NO
dc.publisherInstitutt for teknisk kybernetikknb_NO
dc.subjectntnudaim:5386no_NO
dc.subjectSIE3 teknisk kybernetikkno_NO
dc.subjectReguleringsteknikkno_NO
dc.titleNavigational Assistance for Mini-ROVnb_NO
dc.typeMaster thesisnb_NO
dc.source.pagenumber123nb_NO
dc.contributor.departmentNorges teknisk-naturvitenskapelige universitet, Fakultet for informasjonsteknologi, matematikk og elektroteknikk, Institutt for teknisk kybernetikknb_NO


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