On-Line Identification of the Speed, Steering and Diving Response Parameters of an Autonomous Underwater Vehicle from Experimental Data

Abstract

The experimental response data from autonomous maneuvering using the NPS AUV II vehicle has been analyzed with a view to defining Kalman filters to provide on-line estimates of system parameters and their variability. Kalman filters, designed for parameter estimation are expected to be the first step in the development of autonomous fault detection systems for underwater vehicles. Secondly, extraction of vehicle hydrodynamic coefficients from these parameters can help to develop vehicle dynamic simulators. Thirdly, knowledge of these parameters will allow the design of improved autopilot and guidance laws.

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Document Details

Document Type
Technical Report
Publication Date
Mar 01, 1992
Accession Number
ADA252703

Entities

People

  • Fredric G. Bahrke

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • Sensors
  • Weapons Technologies

DTIC Thesaurus Topics

  • Autonomous Underwater Vehicles
  • Closed Loop Systems
  • Computers
  • Control Surfaces
  • Control Systems
  • Control Systems Engineering
  • Dead Reckoning
  • Detection
  • Engineering
  • Engineers
  • Guidance
  • Kalman Filtering
  • Kalman Filters
  • Mechanical Engineering
  • Naval Architecture
  • Propulsion Systems
  • Underwater Vehicles

Readers

  • Acoustical Oceanography.
  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Marine Hydrodynamics