Any effort to provide precision control for an Autonomous Underwater Vehicle requires an accurate estimation of both the vehicles physical and hydrodynamic parameters. Here a vehicle model for controlled steering behaviors was developed and the hydrodynamic parameters were calculated from actual data obtained from operation. The steering equation parameters are based on a least squares fit to sideslip and turn rate data using maximum likelihood of batch processing. In this way, a more accurate simulation has been found for the development of a track controller that stably drives the vehicle between mission waypoints. Prediction accuracy of the model was better than ninety-five percent over the data set used. / US Navy (USN) author
| Identifer | oai:union.ndltd.org:nps.edu/oai:calhoun.nps.edu:10945/1200 |
| Date | 06 1900 |
| Creators | Johnson, Jay H. |
| Contributors | Healey, Anthony J., Mechanical Engineering |
| Publisher | Monterey, California. Naval Postgraduate School |
| Source Sets | Naval Postgraduate School |
| Detected Language | English |
| Type | Thesis |
| Format | x, 58 p. ;, application/pdf |
| Rights | This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. As such, it is in the public domain, and under the provisions of Title 17, United States Code, Section 105, may not be copyrighted. |
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