Remote Operated Vehicle(ROV) Dynamic Positioning Based on USBL (Ultra Short Base Line)

摘要

Dynamic Positioning is a key technology in Underwater Robot research field. Today,Dynamic Positioning is used most widely in Remote Operated Vehicle(ROV) . In this thesis ,the whole method of building the ROV Dynamic Positioning System is given. At first utilizing Acoustic Positioning Technology-(USBL)to get the Coordinate of ROV; then calculating its difference from the required ROV position and gesture; at last utilizing Neural Net Controller for Dynamic Positioning. The focus is on the main research points of ROV Dynamic Positioning field: Acoustic Positioning Technology and Positioning control Technology.