dc.contributor.advisor | Alfredsen, Jo Arve | nb_NO |
dc.contributor.author | Carlsen, Andreas Løberg | nb_NO |
dc.date.accessioned | 2014-12-19T14:03:17Z | |
dc.date.available | 2014-12-19T14:03:17Z | |
dc.date.created | 2010-11-04 | nb_NO |
dc.date.issued | 2010 | nb_NO |
dc.identifier | 360686 | nb_NO |
dc.identifier | ntnudaim:5386 | nb_NO |
dc.identifier.uri | http://hdl.handle.net/11250/260242 | |
dc.description.abstract | In 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.language | eng | nb_NO |
dc.publisher | Institutt for teknisk kybernetikk | nb_NO |
dc.subject | ntnudaim:5386 | no_NO |
dc.subject | SIE3 teknisk kybernetikk | no_NO |
dc.subject | Reguleringsteknikk | no_NO |
dc.title | Navigational Assistance for Mini-ROV | nb_NO |
dc.type | Master thesis | nb_NO |
dc.source.pagenumber | 123 | nb_NO |
dc.contributor.department | Norges teknisk-naturvitenskapelige universitet, Fakultet for informasjonsteknologi, matematikk og elektroteknikk, Institutt for teknisk kybernetikk | nb_NO |