Observers for Dynamic Positioning of ROVs with Experimental Results

This paper proposes a set of model-based observers included in the DP (Dynamic Positioning) system of the ROV Minerva operated by NTNU. In particular, the observers and the other main components of the DP control system are described. A linear Kalman Filter (LKF), an Extended Kalman Filter (EKF), an adaptive Kalman Filter and a passive nonlinear observer based on the ROV Minerva mathematical models with varying fidelity are proposed. The main aim is to compare different possibilities for the implementation of the observer in a DP control system for ROVs analyzing advantages and drawbacks. Finally, experimental results obtained during DP and tracking operations performed in the Trondheim Fjord are presented.