Reconstruction of Riser Profiles by an Underwater Robot Using Inertial Navigation

Table 1

Parameters used in the simulations.

Parameter	Value
Robot length	1133 mm
Robot max. outside diameter	800 mm
Robot mass	73 kg
Riser outer diameter	295.5 mm
Riser inner diameter	203.5 mm
Riser length	1530 m
Riser internal pressure	60 bar
Outer riser drag coefficient (Cd)	1.2
Water depth	1180 m
Seabed axial friction	0.35
Seabed transversal friction	0.9
Seabed vertical stiffness	104.3 N/m^2
Wave height	5 m
Wave period	10 seconds
FPSO length	330 m