Correction of navigational information supplied to biomimetic Autonomous Underwater Vehicle

• Autorzy: Praczyk T.

Identyfikatory

DOI

10.2478/pomr-2018-0002

• Języki publikacji: PL

Abstrakty

EN

In order to autonomously transfer from one point of the environment to the other, Autonomous Underwater Vehicles (AUV) need a navigational system. While navigating underwater the vehicles usually use a dead reckoning method which calculates vehicle movement on the basis of the information about velocity (sometimes also acceleration) and course (heading) provided by on-board devicesl ike Doppler Velocity Logs and Fibre Optical Gyroscopes. Due to inaccuracies of the devices and the influence of environmental forces, the position generated by the dead reckoning navigational system (DRNS) is not free from errors, moreover the errors grow exponentially in time. The problem becomes even more serious when we deal with small AUVs which do not have any speedometer on board and whose course measurement device is inaccurate. To improve indications of the DRNS the vehicle can emerge onto the surface from time to time, record its GPS position, and measure position error which can be further used to estimate environmental influence and inaccuracies caused by mechanisms of the vehicle. This paper reports simulation tests which were performed to determine the most effective method for correction of DRNS designed for a real Biomimetic AUV.

Słowa kluczowe

EN

underwater navigation; odometry; underwater vehicle

• Wydawca: Gdańsk University of Technology, Faculty of Ocean Engineering & Ship Technology
• Czasopismo: Polish Maritime Research
• Rocznik: 2018
• Tom: nr 1
• Strony: 13--23
• Opis fizyczny: Bibliogr. 21 poz., rys.

Twórcy

autor

Praczyk T.

• Polish Naval Academy Institute of Naval Weapon Śmidowicza 69, 81-127 Gdynia Poland

Bibliografia

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Uwagi

PL

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2018).