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...

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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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creator	Warner, David C
description	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.
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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.</description><language>eng</language><subject>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</subject><creationdate>1991</creationdate><rights>Approved for public release; distribution unlimited.</rights><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><link.rule.ids>230,777,882,27548,27549</link.rule.ids><linktorsrc>$$Uhttps://apps.dtic.mil/sti/citations/ADA244665$$EView_record_in_DTIC$$FView_record_in_$$GDTIC$$Hfree_for_read</linktorsrc></links><search><creatorcontrib>Warner, David C</creatorcontrib><creatorcontrib>NAVAL POSTGRADUATE SCHOOL MONTEREY CA</creatorcontrib><title>Design, Simulation, and Experimental Verification of a Computer Model and Enhanced Position Estimator for the NPS AUV II</title><description>A full six-degree-of-freedom computer model of the Naval Postgraduate School Autonomous Underwater Vehicle (NPS AUV II) is developed. 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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.</description><subject>ACCURACY</subject><subject>AUTONOMOUS NAVIGATION</subject><subject>CLOSED LOOP SYSTEMS</subject><subject>COEFFICIENTS</subject><subject>Computer Programming and Software</subject><subject>COMPUTER PROGRAMS</subject><subject>COMPUTERIZED SIMULATION</subject><subject>COMPUTERIZED SIMULATIONS</subject><subject>DEGREES OF FREEDOM</subject><subject>DELIVERY</subject><subject>ESTIMATES</subject><subject>HYDRODYNAMIC CHARACTERISTICS</subject><subject>HYDRODYNAMICS</subject><subject>OBSERVERS</subject><subject>OPEN LOOP SYSTEMS</subject><subject>POSITION(LOCATION)</subject><subject>REAL TIME</subject><subject>REDUCTION</subject><subject>SIMULATION</subject><subject>Submarine Engineering</subject><subject>SWIMMER VEHICLES</subject><subject>THESES</subject><subject>THREE DIMENSIONAL</subject><subject>UNDERWATER VEHICLES</subject><fulltext>true</fulltext><rsrctype>report</rsrctype><creationdate>1991</creationdate><recordtype>report</recordtype><sourceid>1RU</sourceid><recordid>eNqFi70OgkAQhGksjPoGFvsA2ijSE8BIoSFBacmF25NN7odwS8Lje0F7i8lM8s23juYcPb3tAWoykxZMLmxhJRTzgCMZtCw0NGEq6hYMToGAzJlhYhzh7iTqr2F7YTuUUDlPy7PwTEawG0GFcI_wqGpIXw2U5TZaKaE97n69ifbX4pndjpKpa4Nokds0T09xnCSX8x_8AQ8TQU8</recordid><startdate>199112</startdate><enddate>199112</enddate><creator>Warner, David C</creator><scope>1RU</scope><scope>BHM</scope></search><sort><creationdate>199112</creationdate><title>Design, Simulation, and Experimental Verification of a Computer Model and Enhanced Position Estimator for the NPS AUV II</title><author>Warner, David C</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-dtic_stinet_ADA2446653</frbrgroupid><rsrctype>reports</rsrctype><prefilter>reports</prefilter><language>eng</language><creationdate>1991</creationdate><topic>ACCURACY</topic><topic>AUTONOMOUS NAVIGATION</topic><topic>CLOSED LOOP SYSTEMS</topic><topic>COEFFICIENTS</topic><topic>Computer Programming and Software</topic><topic>COMPUTER PROGRAMS</topic><topic>COMPUTERIZED SIMULATION</topic><topic>COMPUTERIZED SIMULATIONS</topic><topic>DEGREES OF FREEDOM</topic><topic>DELIVERY</topic><topic>ESTIMATES</topic><topic>HYDRODYNAMIC CHARACTERISTICS</topic><topic>HYDRODYNAMICS</topic><topic>OBSERVERS</topic><topic>OPEN LOOP SYSTEMS</topic><topic>POSITION(LOCATION)</topic><topic>REAL TIME</topic><topic>REDUCTION</topic><topic>SIMULATION</topic><topic>Submarine Engineering</topic><topic>SWIMMER VEHICLES</topic><topic>THESES</topic><topic>THREE DIMENSIONAL</topic><topic>UNDERWATER VEHICLES</topic><toplevel>online_resources</toplevel><creatorcontrib>Warner, David C</creatorcontrib><creatorcontrib>NAVAL POSTGRADUATE SCHOOL MONTEREY CA</creatorcontrib><collection>DTIC Technical Reports</collection><collection>DTIC STINET</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Warner, David C</au><aucorp>NAVAL POSTGRADUATE SCHOOL MONTEREY CA</aucorp><format>book</format><genre>unknown</genre><ristype>RPRT</ristype><btitle>Design, Simulation, and Experimental Verification of a Computer Model and Enhanced Position Estimator for the NPS AUV II</btitle><date>1991-12</date><risdate>1991</risdate><abstract>A full six-degree-of-freedom computer model of the Naval Postgraduate School Autonomous Underwater Vehicle (NPS AUV II) is developed. 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source	DTIC Technical Reports
subjects	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
title	Design, Simulation, and Experimental Verification of a Computer Model and Enhanced Position Estimator for the NPS AUV II
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