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Underwater Positioning Using Near Surface Long Baseline Transponder’s Induced by Wave Motion

[+] Author Affiliations
Stian S. Sandøy, Ingrid Schjølberg

NTNU Norwegian University of Science and Technology, Trondheim, Norway

Paper No. OMAE2017-61742, pp. V07AT06A022; 8 pages
doi:10.1115/OMAE2017-61742
From:
  • ASME 2017 36th International Conference on Ocean, Offshore and Arctic Engineering
  • Volume 7A: Ocean Engineering
  • Trondheim, Norway, June 25–30, 2017
  • Conference Sponsors: Ocean, Offshore and Arctic Engineering Division
  • ISBN: 978-0-7918-5773-1
  • Copyright © 2017 by ASME

abstract

This paper presents a filter for underwater positioning in an aquaculture environment with demanding weather conditions. The positioning system is based on acoustic transponders mounted at a net pen on the sea surface. The transponders are exposed to oscillations due to wave disturbance. This will have an impact on the accuracy of the positioning system. An extended Kalman filter (EKF) solution has been proposed including a wave motion model integrated with the pseudo-range measurements from the transponders. Simulations show that the proposed filter compensates well for the disturbances.

Copyright © 2017 by ASME
Topics: Wave motion

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