Dynamic Positioning System Design for Light Work Class ROV URI-L

Abstract

This paper introduces the Light-weight Work Class ROV URI-L for underwater construction. And the design and implementation of an underwater precision navigation system and dynamic positioning system that is essential for the underwater construction, position maintenance control, path tracking control and precision mapping are described. In this study, to develop an underwater precise navigation system which is the key technology in the operation of underwater robot, USBL, DVL and FOG sensor data are fused to realize a fast and accurate navigation system with high update rate. The developed navigation and DP algorithm was verified by a sea trial test.