Handbook of Marine Craft Hydrodynamics and Motion Control

Fossen, Thor I.

doi:10.1002/9781119994138

Cited by 2,874 publications

(2,467 citation statements)

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“…The quaternion unity constraint was enforced withq n b =q n b / q n b after every quaternion update. Σ 2 was implemented with the discrete-time corrector-predictor scheme presented in Fossen [1,Ch. 11.3.4] such that the dGNSS measurement update of Σ 2 was carried out every 100th IMU sample.…”

Section: Methodsmentioning

confidence: 99%

“…as in Fossen [1,Ch. 8.2.6], where w i ∈ R n is assumed to be the driving noise of the WF model and being white Gaussian noise.…”

Section: Modeling Of First-order Wave-induced Motionmentioning

confidence: 99%

“…The vector measurement based on ψ c , from the heading reference sensor package, is defined as c b := [cos(ψ c ), − sin(ψ c ), 0] whereas the reference vector is defined as c n := [1,0,0] .…”

Section: Estimating the Total Vessel Motion And The Gyro Biasmentioning

confidence: 99%

“…This is applied such that only the low-frequency (LF) components of the vessel's surge, sway and heading motions are considered by the control system. Fossen [1,Ch. 11,p.…”

Section: Introductionmentioning

confidence: 99%

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Design of inertial navigation systems for marine craft with adaptive wave filtering aided by triple‐redundant sensor packages

Bryne

Fossen

Johansen

2015

Adaptive Control & Signal

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SUMMARYMarine craft feedback control systems typically require estimates of position, velocity and heading where the wave-induced motions should be suppressed. This paper presents a strapdown inertial navigation system with adaptive wave filtering. Wave filtering based on inertial navigation systems differ from previous vesselmodel-based designs which require knowledge of vessel parameters and mathematical models for estimation of thruster and wind forces and moments based on auxiliary sensors. The origin of the inertial navigation system error states is proven to be uniformly semiglobally exponentially stable (USGES). The wave-filtering scheme uses the estimated states of the inertial navigation system to separate the low-frequency motion of the craft from the wave-frequency motions. The observer structure also allows for estimation of the timevarying encounter frequency by using a signal-based frequency tracker or an adaptive observer. Finally, the structural properties of the triple-redundant sensors packages have been utilized to obtain optimal and robust sensor fusion with respect to sensor performance and faults.

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Section: Methodsmentioning

confidence: 99%

“…as in Fossen [1,Ch. 8.2.6], where w i ∈ R n is assumed to be the driving noise of the WF model and being white Gaussian noise.…”

Section: Modeling Of First-order Wave-induced Motionmentioning

confidence: 99%

Section: Estimating the Total Vessel Motion And The Gyro Biasmentioning

confidence: 99%

“…This is applied such that only the low-frequency (LF) components of the vessel's surge, sway and heading motions are considered by the control system. Fossen [1,Ch. 11,p.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Design of inertial navigation systems for marine craft with adaptive wave filtering aided by triple‐redundant sensor packages

Bryne

Fossen

Johansen

2015

Adaptive Control & Signal

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“…Remark 2: Assuming zero roll angle is a common assumption for slender body vehicles such as AUVs [8]. The CG is located below the CB on a vertical line, which passively stabilizes the roll motion.…”

Section: Control-oriented Auv Modelmentioning

confidence: 99%

A modified dynamic window algorithm for horizontal collision avoidance for AUVs

Eriksen

Breivik

Pettersen

et al. 2016

2016 IEEE Conference on Control Applications (CCA)

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Abstract-Much research has been done on the subject of collision avoidance (COLAV). However, few results are presented that consider vehicles with second-order nonholonomic constraints, such as autonomous underwater vehicles (AUVs). This paper considers the dynamic window (DW) algorithm for reactive horizontal COLAV for AUVs, and uses the HUGIN 1000 AUV in a case study. The DW algorithm is originally developed for vehicles with first-order nonholonomic constraints and is hence not directly applicable for AUVs without resulting in degraded performance. This paper suggests further developments of the DW algorithm to make it better suited for use with AUVs. In particular, a new method for predicting AUV trajectories using a linear approximation which accounts for second-order nonholonomic constraints is developed. The new prediction method, together with a modified search space, reduces the mean square prediction error to about one percent of the original algorithm. The performance and robustness of the modified DW algorithm is evaluated through simulations using a nonlinear model of the HUGIN 1000 AUV.

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Unmanned Underwater Vehicles

Yuh

Choi²

2015

Wiley Encyclopedia of Electrical and Electronics Engineering

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The ocean covers about 70% of the Earth. Ocean‐related activities are extremely diverse—aquaculture, commercial fishing, ocean research, seafood marketing, ocean recreation, marine mining, marine biotechnology, and ocean energy. Living and nonliving resources of the ocean are abundant. For example, it is estimated that there are about 2000 billion tons of manganese nodules on the floor of the Pacific Ocean near the Hawaiian Islands. The ocean also plays a critical role in global environmental issues such as pollution and carbon cycles and the ocean retains more heat than the atmosphere. Therefore, it is not difficult to predict that the ocean will have a great effect on the future existence of all human beings. In spite of its importance, the ocean is generally overlooked as we focus more of our attention on land and atmospheric issues, and we have not been able to explore the full depths of the ocean and its resources. We discovered, by using manned submersibles, that a large amount of carbon dioxide comes from the seafloor and extraordinary groups of organisms living in hydrothermal vent areas. Underwater vehicles can help us better understand marine and other environmental issues, protect our ocean resources from pollution, and efficiently utilize them for human welfare. However, ocean travel is difficult because of unpredictable and hazardous undersea environments.

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Handbook of Marine Craft Hydrodynamics and Motion Control

Cited by 2,874 publications

References 0 publications

Design of inertial navigation systems for marine craft with adaptive wave filtering aided by triple‐redundant sensor packages

Design of inertial navigation systems for marine craft with adaptive wave filtering aided by triple‐redundant sensor packages

A modified dynamic window algorithm for horizontal collision avoidance for AUVs

Unmanned Underwater Vehicles

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