Absolute localization of an ROV in a Fish Pen using Laser Triangulation

This paper proposes a low-cost solution for localizing a remotely operated vehicle (ROV) inside a fish net pen. The solution consists of a kinematic Kalman Filter capable of estimating the absolute ROV position and orientation in a fish net pen using primarily the onboard compass, laser-camera triangulation, and a model of the cylindrical net pen. The solution is demonstrated in a real fish net pen, under realistic operating conditions, and the performance is comparable to that of specialized positioning sensor systems such as ultra short baseline systems and Doppler velocity loggers.