Trim Calculation Methods for a Dynamical Model of the REMUS 100 Autonomous Underwater Vehicle

Abstract

The calculations given in this work demonstrate that the trimmed state for a dynamical model of the REMUS 100 autonomous underwater vehicle is readily found using a numerical zero-finding procedure based on Newton-Raphson iteration. This work also presents approximate analytical expressions for the trimmed state that can be used as a starting point for the numerical procedure. The procedure should be applicable to a range of hydrodynamic parameters corresponding to other configurations of the REMUS 100 vehicle and to similar vehicles from other vendors.

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Document Details

Document Type
Technical Report
Publication Date
Aug 01, 2011
Accession Number
ADA554483

Entities

People

  • Raewyn Hall
  • Stuart Anstee

Organizations

  • Defence Science and Technology Group

Tags

Communities of Interest

  • Autonomy
  • C4I
  • Materials and Manufacturing Processes
  • Weapons Technologies

DTIC Thesaurus Topics

  • Algorithms
  • Autonomous Underwater Vehicles
  • Autonomous Vehicles
  • Control Surfaces
  • Control Systems
  • Environmental Assessment
  • Equations
  • Equations Of Motion
  • Inertial Navigation
  • Inertial Navigation Systems
  • Level Flight
  • Navigation
  • Orientation (Direction)
  • Propulsion Systems
  • Simulations
  • Underwater Vehicles
  • Unmanned Systems

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Aerodynamics/Aeronautics.
  • Unmanned Aerial System (UAS) Autonomous Capabilities and Mission Reconnaissance.