非动力定位母船海缆检测水下机器人定位系统应用研究

Application Research of Submarine Cable Detection ROV Positioning System for Non-dynamic Positioning Mother Ship

为了实现在非动力定位母船上定位ROV(水下机器人)开展海底电缆检测作业,对比各类型水下定位系统基本原理及特点,选择更适合搭载ROV的定位系统。通过描述如何在非动力定位船舶上使用水下定位系统,分析定位误差产生的原因和减小误差的方法,研究水下定位系统的精度。通过研究成果的实际应用,表明该方法在非动力定位船舶上应用USBL(超短基线)可实现水下精准定位。

For submarine cable inspection operation for the locating ROV(remotely operated underwater vehicle)on the non-dynamic locating mother ship,principles and characteristics of various underwater positioning systems are compared to choose a better positioning system on ROV.By the description of the use of an underwater positioning system on a non-dynamic positioning mother ship,the reasons for the location error and methods of error reduction are analyzed to study the precision of the underwater positioning system.Through the application of the research result,it is demonstrated that the underwater precise location can be achieved by USBL(ultra-short base line)on a non-dynamic positioning ship.