Dynamic Positioning System for low-cost ROV

This paper examines the use of low-cost sensors and systems for automated underwater navigation and control. A low-cost dynamic positioning system is developed and utilised as critical component for remotely operated vehicle (ROV) tasks such as general visual inspection and photogrammetric survey. Unlike unmanned aerial vehicles (UAVs) that can rely on cost-effective and widely available GNSS sensors, this is not available to the subsea vehicle domain as these signals do not penetrate through water. In absence of GNSS capability, GPS-denied solutions such as dead-reckoning systems are required. This usually requires advanced motion and angle sensors with an array of aiding sensors. In this paper we use one of the world's most affordable and high-performance ROVs, the BlueROV2, and with the integration of a waterlinked DVL we report on the development of a low-cost dynamic positioning system for BlueROV2. The paper showcases a low-cost solution for advanced function control subsea and demonstrates the capability and use of such ROVs in a wider range of underwater applications.