A real time autonomous underwater vehicle Dynamic Simulator
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Authors
Jurewicz, Thomas A.
Subjects
Graphics
Dynamics
Real Time
Simulation
Path Planning
DoD Software Development
Dynamics
Real Time
Simulation
Path Planning
DoD Software Development
Advisors
Zyda, Michael J.
Date of Issue
1990-12
Date
December 1990
Publisher
Monterey, California: Naval Postgraduate School
Language
Abstract
The NPS Autonomous Underwater Vehicle Simulator is a joint project between the Naval Postgraduate School's Mechanical Engineering and Computer Science Departments. In order to test mission planning and execution software, an accurate vehicle dynamic model is required. Using dynamics based upon the Navy's Swimmer Delivery Vehicle (SDV), there is a need to continually update the hydrodynamic coefficients based upon actual vehicle-in-water testing. The NPS AUV Dynamic Simulator contains a full set of submarine equations of motion and hydrodynamic coefficients. The coefficients are modifiable on-line, and a replay capability exists for further performance review. Using Monterey Bay as an underwater testing environment, there is need to be able to display expansive terrain data while maintaining the real time simulation. The Variable Terrain Resolution Algorithm incorporated into the NPS AUV Dynamic Simulator enables the entire Monterey Bay data base to be displayed in real time. Resolution adjustments are made automatically based upon the vehicle's depth level and system performance.
Type
Thesis
Description
Series/Report No
Department
Department of Computer Science
Organization
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
Funder
Format
viii, 82 p. ill.
Citation
Distribution Statement
Approved for public release; distribution is unlimited.
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.