Comparison of Mathematical Models for the HUGIN 4500 AUV Based on Experimental Data

Hegrenses, O.; Hallingstad, Oddvar; Jalving, B.

doi:10.1109/ut.2007.370776

Cited by 31 publications

(11 citation statements)

References 16 publications

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“…The prototype is a "cigar" shaped vehicle, with a length of l = 9.5m, a diameter of 0.8m and a weight of approximately W = 4100kg. It has a physical structure similar to HUGIN 4500 [3] or STARFISH [4], although bigger. The actuator system is composed of one propeller and two control rudders at stern, all electrically driven.…”

Section: Hardware Designmentioning

confidence: 99%

Hardware and software architecture for AUV based on low-cost sensors

Martínez

Rodríguez

Hernández

et al. 2010

2010 11th International Conference on Control Automation Robotics &Amp; Vision

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The use of Autonomous Underwater Vehicles (AUV) as robots for exploration and oceanology science has been a field of interest of several universities and research center's around the world in the last decade. Cuba being a country surrounded by the Caribbean Sea, having most of it's resources in it. Researchers from the Central University of Las Villas (UCLV) and the Hydrographic Research Center (HRC) have joined forces in the development of the HRC-AUV project, whit the objective of the implementation of a AUV capable to operate in the Cuban sea for exploration and supervision. The platform is based on low cost sensors and hardware. In the present document the hardware and software architectures of the AUV are presented. Also a set of experimental results are presented to validate the system.

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Section: Hardware Designmentioning

confidence: 99%

Hardware and software architecture for AUV based on low-cost sensors

Martínez

Rodríguez

Hernández

et al. 2010

2010 11th International Conference on Control Automation Robotics &Amp; Vision

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“…The steps involving development and validation of the finite-dimensional mathematical vehicle model utilized in this paper have been rigorously treated in Hegrenaes et al (2007a). For an extended review and historical recap of work related to modeling of underwater vehicles the reader should refer to the same paper and references therein.…”

Section: Modelingmentioning

confidence: 99%

“…(7) A description and complete expressions for the various terms are given in Hegrenaes et al (2007a). Note the difference between ν and ν r = [u r , v r , r] , denoting generalized Earth-relative (inertial) and generalized water-relative velocity, respectively.…”

Section: Kinetic Vehicle Modelmentioning

confidence: 99%

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Towards Model-Aided Navigation of Underwater Vehicles

Hegrenæs¹,

Hallingstad²,

Gade³

2007

MIC

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This paper reports the development and preliminary experimental evaluation of a model-aided inertial navigation system (INS) for underwater vehicles. The implemented navigation system exploits accurate knowledge of the vehicle dynamics through an experimentally validated mathematical model, relating the water-relative velocity of the vehicle to the forces and moments acting upon it. Together with online current estimation, the model output is integrated in the navigation system. The proposed approach is of practical interest both for underwater navigation when lacking disparate velocity measurements, typically from a Doppler velocity log (DVL), and for systems where the need for redundancy and integrity is important, e.g. during sensor dropouts or failures, or in case of emergency navigation. The presented results verify the concept that with merely an addition of software and no added instrumentation, it is possible to considerably improve the accuracy and robustness of an INS by utilizing the output from a kinetic vehicle model. To the best of our knowledge, this paper is the first report on the implementation and experimental evaluation of model-aided INS for underwater vehicle navigation.

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“…A este respecto, se encuentran en la literatura un importante número de contribuciones en lo que se refiere al ajuste del modelo de maniobra y también a la exactitud del mismo cuando se aplican mínimos cuadrados ordinarios (MCO) con vehículos de superficie (Shields and Hodder, 1982), (Suleiman, 2000), (Yoon and Rhee, 2003), (Oltmann, 2003), (Mahfouz, 2004), (Yoon et al, 2007), (Revestido Herrero and Velasco, 2012). De la misma manera, en lo que se refiere a vehícu-los subacuáticos se encuentran referencias (Alessandri et al, 1998), (Caccia et al, 2000), (Smallwood and Whitcomb, 2003), (Tiano, 2004), (Hegrenaes et al, 2007), (Vervoort, 2009), (Miskovic and Vukic, 2011), (Gibson et al, 2015) donde también se hace hincapié en el ajuste de los datos y en la exactitud del modelo cuando se aplican MCO. Por lo tanto, la aplicación de MCO es ampliamente conocida en la literatura, sin embargo, en lo que se refiere a la consideración de la eficiencia en la estimación de parámetros para modelos de maniobra con este tipo de métodos no se encuentran referencias especificas.…”

Section: Introductionunclassified

Estimación Eficiente de Parámetros y Control en Base a un Sistema de Guía LOS Modificado de un Vehículo Subacuático

Herrero

Velasco

Vega

et al. 2017

Rev. iberoam. autom. inform. ind.

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ResumenEn este trabajo, se propone una metodología para la mejora de la eficiencia en la estimación de parámetros de un modelo de maniobra no lineal de un vehículo subacuático no tripulado con forma de torpedo. Para este cometido, se dispone de datos de diferentes ensayos, llevados a cabo con el citado vehículo en las instalaciones del Canal de Experiencias Hidrodinámicas del Pardo, Madrid. En la metodología propuesta, se tiene en cuenta los siguientes aspectos para mejorar la eficiencia en la estimación de los parámetros: selección del periodo de muestreo, suavizado de los datos adquiridos en los ensayos considerando un compromiso entre varianza y sesgo del filtro suavizador a aplicar, análisis del modelo de regresión lineal clásico planteado en cada ensayo, desde el punto de vista estadístico para la estimación de los parámetros. Las mejora de la eficiencia se verifica mediante métodos gráficos y estadísticos. Además, se propone una modificación del método line-of-sight (LOS) convencional que proporciona resultados satisfactorios en presencia de corrientes oceánicas mediante la realización de un procedimiento sencillo.Palabras Clave: Estimación de parámetros, mínimos cuadrados ordinarios, mínimos cuadrados generales, modelo de maniobra no lineal, LOS. Efficient Parameter Estimation and Control Based on a Modified LOS Guidance System of an Underwater Vehicle AbstractIn this work, a methodology is proposed for the improvement of the parameter estimation efficiency of a non-linear manoeuvring model of a torpedo shaped unmanned underwater vehicle. For this purpose, data from different tests, were carried out with the aforementioned vehicle at the facilities of the Canal de Experiencias Hidrodinámicas del Pardo, Madrid. In the proposed methodology, the following aspects are taken into account in order to improve the parameter estimation efficiency: selection of the sampling period, smoothing of the data acquired in the tests considering a compromise between variance and bias of the smoothing filter to be applied, analysis of the classical linear regression model proposed in each trial, from the statistical point of view for the estimation of the parameters. Improvements in efficiency are verified by graphical and statistical methods. In addition, a modification of the conventional LOS method is proposed which provides satisfactory results in the presence of ocean currents by performing a simple procedure.

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Comparison of Mathematical Models for the HUGIN 4500 AUV Based on Experimental Data

Cited by 31 publications

References 16 publications

Hardware and software architecture for AUV based on low-cost sensors

Hardware and software architecture for AUV based on low-cost sensors

Towards Model-Aided Navigation of Underwater Vehicles

Estimación Eficiente de Parámetros y Control en Base a un Sistema de Guía LOS Modificado de un Vehículo Subacuático

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