Attitude determination of autonomous underwater vehicles based on hydromechanics
| Autor: | Rui Wang, Zhigang Shang, Tieli Li, Mo Li |
|---|---|
| Rok vydání: | 2016 |
| Předmět: |
0209 industrial biotechnology
Engineering Pressure sensor array 010505 oceanography business.industry ComputerApplications_COMPUTERSINOTHERSYSTEMS Control engineering 02 engineering and technology 01 natural sciences Pressure sensor Finite element method Computer Science::Robotics Extended Kalman filter 020901 industrial engineering & automation Control theory Attitude determination Underwater business Quaternion 0105 earth and related environmental sciences |
| Zdroj: | 2016 12th World Congress on Intelligent Control and Automation (WCICA). |
| DOI: | 10.1109/wcica.2016.7578416 |
| Popis: | Attitude determination is an important part for Autonomous Underwater Vehicles (AUVs) to achieve their designed mission. This paper presents a novel attitude solution based on the hydrodynamic model. The hydrodynamic parameters can be calculated by the known hydrological parameters. Meanwhile, the pressure information of AUV's surface can be measured by the pressure sensor array. The attitude information can be solved based on the values above. In order to verify the effectiveness of the proposed method, a multi-sensor integrated system is designed. The hydrodynamic parameters are solved by the finite element method. The quaternion model and EKF are selected to estimate the attitude information. Simulation results demonstrate that the proposed method is effective to improve the accuracy of the attitudes. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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