A framework for obtaining steady-state maneuvering characteristics of underwater vehicles using sea-trial data

This paper reports the development and experimental evaluation of a simple and intuitive framework for obtaining steady-state maneuvering characteristics of a wide class of underwater vehicles. The possible use of steady-state characteristics includes navigation, fault-detection and vehicle design e...

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Bibliographic Details
Main Authors: Hegrenaes, O., Hallingstad, O., Jalving, B.
Format: Conference Proceeding
Language:English
Subjects:
Automatic testing
Earth
Marine vehicles
Matrix decomposition
Navigation
Position measurement
Sea measurements
Steady-state
Underwater vehicles
Velocity measurement
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Summary:This paper reports the development and experimental evaluation of a simple and intuitive framework for obtaining steady-state maneuvering characteristics of a wide class of underwater vehicles. The possible use of steady-state characteristics includes navigation, fault-detection and vehicle design evaluation. The presented algorithms allow unknown currents to be included in the identification loop. Measured or estimated vehicle position, velocity and attitude are required inputs. The effectiveness of the algorithms is illustrated using experimental data collected by the HUGIN 4500 AUV. The identification results are found to be consistent and in good agreement with a physical interpretation.
DOI:10.1109/MED.2007.4433900