Lever Arm Compensation of Autonomous Underwater Vehicle for Fast Transfer Alignment
نویسندگان
چکیده
منابع مشابه
OPTIMIZED FUZZY CONTROL DESIGN OF AN AUTONOMOUS UNDERWATER VEHICLE
In this study, the roll, yaw and depth fuzzy control of an Au- tonomous Underwater Vehicle (AUV) are addressed. Yaw and roll angles are regulated only using their errors and rates, but due to the complexity of depth dynamic channel, additional pitch rate quantity is used to improve the depth loop performance. The discussed AUV has four aps at the rear of the vehicle as actuators. Two rule bases...
متن کاملA Fast SINS Initial Alignment Scheme for Underwater Vehicle Applications
To achieve high Strapdown Inertial Navigation System (SINS) alignment accuracy within a short period of time is still a challenging issue for underwater vehicles. In this paper, a new SINS initial alignment scheme aided by the velocity derived from Doppler Velocity Log (DVL) is proposed to solve this problem. In the stage of the coarse alignment, the velocity of DVL is employed to reduce the im...
متن کاملAutonomous Underwater Vehicle Systems
To understand the physical and biological relationships often requires high resolution sampling far exceeding present capabilities. If spatially adaptive sampling can be developed, data resolution can be greatly improved over that presently possible with conventional sensor platforms. One technique to achieve both spatially and temporally adaptive sampling is an Autonomous Oceanographic Samplin...
متن کاملAutonomous Underwater Vehicle Navigation
This paper surveys the problem of navigation for autonomous underwater vehicles (AUVs). Marine robotics technology has undergone a phase of dramatic increase in capability in recent years. Navigation is one of the key challenges that limits our capability to use AUVs to address problems of critical importance to society. Good navigation information is essential for safe operation and recovery o...
متن کاملLever Arm Compensation for GPS/INS/Odometer Integrated System
For more accurate navigation, lever arm compensation is considered. The compensation method for GPS and an odometer is introduced and new compensation methods are proposed for an odometer to consider the effect of coordinate transformation errors and the scale factor error. The methods are applied to a GPS/INS/odometer integrated system and the simulation and experimental results show its effec...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Computers, Materials & Continua
سال: 2019
ISSN: 1546-2226
DOI: 10.32604/cmc.2019.03739