Reconstruction of Riser Profiles by an Underwater Robot Using Inertial Navigation (original) (raw)

Reconstruction of Riser Profiles by an Underwater Robot Using Inertial Navigation

2012

Abstract

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.

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