Design, Simulation, and Experimental Verification of a Computer Model and Enhanced Position Estimator for the NPS AUV II

Design, Simulation, and Experimental Verification of a Computer Model and Enhanced Position Estimator for the NPS AUV II

A full six-degree-of-freedom computer model of the Naval Postgraduate School Autonomous Underwater Vehicle (NPS AUV II) is developed. Hydrodynamic Coefficients are determined by geometric similarity with an existing swimmer delivery vehicle and analysis of initial open loop AUV II trials. Comparison...

Ausführliche Beschreibung

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Bibliographische Detailangaben
1. Verfasser: Warner, David C
Format: Report
Sprache:eng
Schlagworte:
ACCURACY
AUTONOMOUS NAVIGATION
CLOSED LOOP SYSTEMS
COEFFICIENTS
Computer Programming and Software
COMPUTER PROGRAMS
COMPUTERIZED SIMULATION
COMPUTERIZED SIMULATIONS
DEGREES OF FREEDOM
DELIVERY
ESTIMATES
HYDRODYNAMIC CHARACTERISTICS
HYDRODYNAMICS
OBSERVERS
OPEN LOOP SYSTEMS
POSITION(LOCATION)
REAL TIME
REDUCTION
SIMULATION
Submarine Engineering
SWIMMER VEHICLES
THESES
THREE DIMENSIONAL
UNDERWATER VEHICLES
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Beschreibung
Zusammenfassung:A full six-degree-of-freedom computer model of the Naval Postgraduate School Autonomous Underwater Vehicle (NPS AUV II) is developed. Hydrodynamic Coefficients are determined by geometric similarity with an existing swimmer delivery vehicle and analysis of initial open loop AUV II trials. Comparisons between simulated and experimental results demonstrate the validity of the model and the techniques used. A reduced order observer of lateral velocity was produced to provide an input for an enhanced position estimator. Results are presented which show that the position estimator can be calibrated using AUV II run data to provide a real-time accurate estimate of position.