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002
Publications

2020

Detection and Mapping of Monopiles in Offshore Wind Farms using Autonomous Surface Vehicles

Authors
Claro, R; Silva, R; Pinto, A;

Publication
GLOBAL OCEANS 2020: SINGAPORE - U.S. GULF COAST

Abstract
This paper presents an algorithm for mapping monopiles from Offshore Wind Farms (OWF). The ASV (Autonomous Surface Vehicle) surveys the environment, detects and localizes monopiles using situational awareness system based on LiDAR, GPS and IMU (Inertial Measurement Unit) data. The position of the monopile is obtained based on the relative localization between the extrapolated center of the structure that was detected and the ASV. A positive detection of a monopile is referenced to a global positioning frame based on the GPS. Results in a simulator environment demonstrate the ability of this situational awareness system to identify monopiles with a precision of 0.005 m, which is relevant for detecting structural disalignments over time that might be caused by the appearance of scour in the structure's foundation.