Design, simulation, and experimental verification of a computer model and enhanced position estimator for the NPS AUV II
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Authors
Warner, David C.
Subjects
Advisors
Papoulias, Fotis A.
Date of Issue
1991-12
Date
December 1991
Publisher
Monterey, California. Naval Postgraduate School
Language
Abstract
A full six-degree-of-freedom computer model of the Naval Postgraduate School Autonomous Underwater Vehicle (NPS AUV II) is developed. Hydrodynamic Coefficients are determined by geometric similarity with an existing swimmer delivery vehicle and analysis of initial open loop AUV II trials. Comparisons between simulated and experimental results demonstrate the validity of the model and the techniques used. A reduced order observer of lateral velocity was produced to provide an input for an enhanced position estimator. Results are presented which show that the position estimator can be calibrated using AUV II run data to provide a real-time accurate estimate of position.
Type
Thesis
Description
Series/Report No
Department
Organization
Identifiers
NPS Report Number
Sponsors
Funder
Format
121 p. ; 28 cm.
Citation
Distribution Statement
Approved for public release; distribution is unlimited.