AUV dive control system development including sensor bias compensation and parameter estimation
Reina, Gerard J.
Healey, Anthony J.
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The U.S. Navy and a number of its contractors are presently developing unmanned miniature submarines for several vital underwater missions. These include surveillance, submarine tracking, and bottom mapping. Foregoing Research at NPS produced a "testbed" as a research platform for demonstrating the performance of AUVs. Combining the power of an IBM PC/AT in conjunction with a high level programming language, a state space dive control system was developed and instituted for the 30 inch AUV model. Paramter Estimation using a Recursive Least Squares Fit scheme and a State Observer were incorporated in the controller. Procedures dealing with hardware/software interfacing, AUV simulation analysis, and computation speed of large programming code were investigated.
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