Positioning of Subsea Modules Using an Automated ROY

摘要

When modules are installed on the seafloor they often need to interface with existing equipment. The modules will therefore need to be positioned and oriented precise. Today this is done by using guide-wires, or by using a manually controlled ROV. Both these methods are costly and time consuming. This paper propose a system for automating the ROV. We believe that such system will make installations of modules faster and easier. This will make installations less expensive as vessel time is a major factor of the installation cost. The paper describes a simulation model for a system consisting of a module hanging in a wire and an ROV. Further different control strategies, state estimators and applicable sensor technology are discussed.