AUV dive control system development including sensor bias compensation and parameter estimation
By: Gerard J. Reina
Contributors: Healey, Anthony J.
Publisher: Naval Postgraduate School; Available from the National Technical Information Service
Published: 1988
Place of publication: Monterey, Calif; Springfield, Va
Language: eng
Number of pages: 80
Description: The crux of this thesis is to develop, test and evaluate a real- time state-space derived dive plane controller for the NPS prototype Autonomous Underwater Vehicle (AUV). 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. Parameter 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. Keywords: Analog simulators, Digital control programs, Closed loops.
Notes: Thesis advisor(s): Healey, Anthony.

."June 1988."

DTIC Descriptor(s): Control Systems, Prototypes, Underwater Vehicles, Deep Diving, Systems Engineering, Analog Systems, Bias, Bottom, Coding, Compensation, Computations, Computer Programming, Computer Programs, Control, Detectors, Digital Systems, Diving, Estimates, High Level Languages, Loops, Mapping, Miniaturization, Missions, Observers, Parameters, Platforms, Simulation, Simulators, Submarines, Test Beds, Theses, Tracking, Underwater, Unmanned, Velocity.

Thesis (M.S. in Mechanical Eng.) Naval Postgraduate School, Dec. 1988.

Includes bibliographical references.

Also available online.

Mode of accesss: World Wide Web.

System reuqirements: Adobe Acrobat Reader.

US Navy (USN) author.