On-line identification of the speed, steering and diving response parameters of an autonomous underwater vehicle from experimental data
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Authors
Bahrke, Fredric G.
Subjects
Advisors
Healey, Anthony J.
Date of Issue
1992-03
Date
Mar-92
Publisher
Monterey, California. Naval Postgraduate School
Language
en_US
Abstract
The experimental response data from autonomous maneuvering using the NPS AUV II vehicle has been analyzed with a view to defining Kalman filters to provide on-line estimates of system parameters and their variability. Kalman filters, designed for parameter estimation are expected to be the first step in the development of autonomous fault detection systems for underwater vehicles. Secondly, extraction of vehicle hydrodynamic coefficients from these parameters can help to develop vehicle dynamic simulators. Thirdly, knowledge of these parameters will allow the design of improved autopilot and guidance laws.
Type
Thesis
Description
Series/Report No
Department
Organization
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
Funder
Format
xvii, 161 p.: ill.;28 cm.
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.