Auv Parameter Estimation Using Sensor Data Fusion Methods Based on Nonlinear Filters, M.Sc. Thesis Sharif University of Technology ; Alasty, Aria (Supervisor) ; Salarieh, Hassan (Co-Supervisor)
Abstract
Nowadays, application of AUVs in marine missions is a crucial research field. To reach a fully automated underwater vehicle, it should suitably be designed, controlled, navigated and its fault is detected immediately. An Identified model of AUV is usable for all of these goals. Thus, in this project, parameters of an appropriate dynamic model of AUV is estimated using augmented state space method and TUKF.By investigating possibility of parameter estimation of 6-DOF model and sub models in different cases, a scenario for estimation of cruise, steering and diving sub model parameters of AUV, using output of DVL and Gyroscope is proposed. Furthermore, planar misalignment between DVL and IMU,...
Cataloging briefAuv Parameter Estimation Using Sensor Data Fusion Methods Based on Nonlinear Filters, M.Sc. Thesis Sharif University of Technology ; Alasty, Aria (Supervisor) ; Salarieh, Hassan (Co-Supervisor)
Abstract
Nowadays, application of AUVs in marine missions is a crucial research field. To reach a fully automated underwater vehicle, it should suitably be designed, controlled, navigated and its fault is detected immediately. An Identified model of AUV is usable for all of these goals. Thus, in this project, parameters of an appropriate dynamic model of AUV is estimated using augmented state space method and TUKF.By investigating possibility of parameter estimation of 6-DOF model and sub models in different cases, a scenario for estimation of cruise, steering and diving sub model parameters of AUV, using output of DVL and Gyroscope is proposed. Furthermore, planar misalignment between DVL and IMU,...
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