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

Abstract

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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Document Details

Document Type
Technical Report
Publication Date
Dec 01, 1991
Accession Number
ADA244665

Entities

People

  • David C. Warner

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Autonomy
  • Weapons Technologies

DTIC Thesaurus Topics

  • Artificial Intelligence
  • Autonomous Underwater Vehicles
  • Collision Avoidance
  • Collision Avoidance Systems
  • Computational Science
  • Control Systems
  • Engineers
  • Equations Of Motion
  • Estimators
  • Guidance
  • Mechanical Engineering
  • Naval Architecture
  • Navigation
  • Navigational Equipment
  • Three Dimensional
  • Underwater Vehicles
  • Unmanned Underwater Vehicles

Readers

  • Computational Modeling and Simulation
  • Robotics and Automation.