Reconstruction of Riser Profiles by an Underwater Robot Using Inertial Navigation
Joint Authors
Menegaldo, Luciano Luporini
Neves, Cassiano
Panzieri, Stefano
Source
Issue
Vol. 2012, Issue 2012 (31 Dec. 2012), pp.1-15, 15 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2012-05-07
Country of Publication
Egypt
No. of Pages
15
Main Subjects
Abstract EN
This paper proposes a kinematic model and an inertial localization system architecture for a riser inspecting robot.
The robot scrolls outside the catenary riser, used for underwater petroleum exploration, and is designed to perform several nondestructive tests.
It can also be used to reconstruct the riser profile.
Here, a realistic simulation model of robot kinematics and its environment is proposed, using different sources of data: oil platform characteristics, riser static configuration, sea currents and waves, vortex-induced vibrations, and instrumentation model.
A dynamic finite element model of the riser generates a nominal riser profile.
When the robot kinematic model virtually scrolls the simulated riser profile, a robot kinematic pattern is calculated.
This pattern feeds error models of a strapdown inertial measurement unit (IMU) and of a depth sensor.
A Kalman filter fuses the simulated accelerometers data with simulated external measurements.
Along the riser vertical part, the estimated localization error between the simulated nominal and Kalman filter reconstructed robot paths was about 2 m.
When the robot model approaches the seabed it assumes a more horizontal trajectory and the localization error increases significantly.
American Psychological Association (APA)
Menegaldo, Luciano Luporini& Panzieri, Stefano& Neves, Cassiano. 2012. Reconstruction of Riser Profiles by an Underwater Robot Using Inertial Navigation. Journal of Robotics،Vol. 2012, no. 2012, pp.1-15.
https://search.emarefa.net/detail/BIM-487239
Modern Language Association (MLA)
Menegaldo, Luciano Luporini…[et al.]. Reconstruction of Riser Profiles by an Underwater Robot Using Inertial Navigation. Journal of Robotics No. 2012 (2012), pp.1-15.
https://search.emarefa.net/detail/BIM-487239
American Medical Association (AMA)
Menegaldo, Luciano Luporini& Panzieri, Stefano& Neves, Cassiano. Reconstruction of Riser Profiles by an Underwater Robot Using Inertial Navigation. Journal of Robotics. 2012. Vol. 2012, no. 2012, pp.1-15.
https://search.emarefa.net/detail/BIM-487239
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-487239