Sensorfusion för undervattensrobot i kärnteknisk miljö med Kalman filtrering
WesDyne TRC AB is a fully owned subsidiary of the global WestinghouseElectric Corporation. WesDyne is a world leader in non-invasive methods for theinspection of nuclear power plants. One of the inspection platforms used to scanfor defects in and around the welds in the reactor vessel is called the T-crawler.The T-crawler operates under water in a radioactive environment by stepping onthe vessel (reactor tank) inner wall using suction cups. The environment is harshand many traditional positioning sensors are not suitable for implementation. Thisthesis investigates the possibility to use a gyroscope and a pressure sensor tocreate an alternative and independent positioning system. Together with thecurrent positioning sensors the new sensors will be fused in a Kalman filter. TheKalman filter together with the alternative positioning system will be evaluatedusing simulated sensors in Matlab. The thesis shows that a positioning systemwith a pressure sensor and a gyroscope is suitable for implementation on the Tcrawler,but the thesis also establishes that further testing is needed to fullyevaluate the performance of the alternative positioning during a safety inspection.AcknowledgementsThanks to the people at WesDyne for the help and information during the thesis,especially Lars Skoglund my supervisor, David Seery for information about the Tcrawlerand David Stenman for information about radiation and proofreading thereport. Also I would like to thank friends and family for moral support during thethesis.