Autopilot Using Differential Thrust for ARIES Autonomous Underwater Vehicle

Abstract

Future underwater missions will require data transmission via satellite, In particular, the Office of Naval Research (ONR) is interested in experimenting with communications using the GOES satellite system, which is government owned. Unfortunately, communication antennas must point to specific satellites in this system and thus underwater vehicles must steer a specific course on the surface during the communication process, While surfaced, underwater vehicles are subject to wind and wave disturbances and it has been suggested that control using differential thrust from propellers may provide advantages, This thesis covers efforts to create and test such a steering autopilot based on the use of the ARIES AUV and differing the voltage supplied to each propeller, It is planned to use the ARIES in an ocean experiment to test this satellite communication capability, This control is embedded in the control of ARIES during extended pop up maneuvers for GPS navigational fixes, When surfaced, not only are navigational fixes obtained, but also data packets are communicated to a command center,

Open PDF

Document Details

Document Type
Technical Report
Publication Date
Jun 01, 2003
Accession Number
ADA417554

Entities

People

  • Christopher J. Sarton

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Space

DTIC Thesaurus Topics

  • Artificial Satellites
  • Automatic Pilots
  • Autonomous Underwater Vehicles
  • California
  • Data Transmission
  • Engineering
  • Governments
  • Low Earth Orbits
  • Mechanical Engineering
  • Military Research
  • Propellers
  • Radio Communications
  • Satellite Communications
  • Thrust Control
  • Underwater Vehicles
  • United States
  • Vehicles

Readers

  • Robotics and Automation.
  • Systems Analysis and Design
  • Tactical Satellite Communications Systems Engineering.

Technology Areas

  • Space
  • Space - Satellites
  • Space - Spacecraft Maneuvers