TY - GEN
T1 - Localization of a submersible mobile inspection platform in an oil storage tank
AU - Abdulla, Alawi Salem Alwi
AU - Khalil, Alaa Majed Aboud
AU - Mohamed Al Shehhi, Abdul Aziz Ahmed
AU - Karki, Hamad
AU - Fok, S. C.
PY - 2010
Y1 - 2010
N2 - This paper presents an approach to locate the position of an unmanned mobile inspection platform at the bottom of an oil storage tank. The proposed approach uses 3-range and 1-bearing sensors mounted on the platform and the known tank contour for localization. The effects of the uncertainties in the measurement systems on the errors in the platform locations have been, investigated. The results indicated that the approach is comparable to the trilateration technique in terms of positioning errors. The work constitutes important first steps towards the development of an unmanned submersible mobile platform to simultaneously locate and map the structural defects in the base of a filled oil tank.
AB - This paper presents an approach to locate the position of an unmanned mobile inspection platform at the bottom of an oil storage tank. The proposed approach uses 3-range and 1-bearing sensors mounted on the platform and the known tank contour for localization. The effects of the uncertainties in the measurement systems on the errors in the platform locations have been, investigated. The results indicated that the approach is comparable to the trilateration technique in terms of positioning errors. The work constitutes important first steps towards the development of an unmanned submersible mobile platform to simultaneously locate and map the structural defects in the base of a filled oil tank.
UR - http://www.scopus.com/inward/record.url?scp=77954532001&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:77954532001
SN - 9789948427186
T3 - ISMA'10 - 7th International Symposium on Mechatronics and its Applications
BT - ISMA'10 - 7th International Symposium on Mechatronics and its Applications
T2 - 7th International Symposium on Mechatronics and its Applications, ISMA'10
Y2 - 20 April 2010 through 22 April 2010
ER -