NAVIGATION AND MOTION CONTROL SYSTEMS OF THE AUTONOMOUS UNDERWATER VEHICLE
Autonomous underwater vehicles (AUVs) are widely used and have proven their effectiveness in tasks such as transportation safety, area monitoring and seafloor mapping. When developing AUV’s navigation and control systems, the engineers have to ensure the required levels of accuracy and reliability f...
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doaj-443da165d6d943688888bb0899c3d16f2020-11-25T03:14:02ZengScientific Route OÜEUREKA: Physics and Engineering2461-42542461-42622020-07-014385010.21303/2461-4262.2020.0013611361NAVIGATION AND MOTION CONTROL SYSTEMS OF THE AUTONOMOUS UNDERWATER VEHICLEDmitry Antonov0Leonid Kolganov1Aleksey Savkin2Egor Chekhov3Maxim Ryabinkin4Moscow Aviation Institute (National Research University)Moscow Aviation Institute (National Research University)Moscow Aviation Institute (National Research University)Moscow Aviation Institute (National Research University)Moscow Aviation Institute (National Research University)Autonomous underwater vehicles (AUVs) are widely used and have proven their effectiveness in tasks such as transportation safety, area monitoring and seafloor mapping. When developing AUV’s navigation and control systems, the engineers have to ensure the required levels of accuracy and reliability for solving navigation and motion control tasks in autonomous underwater operation under restrictions on the overall dimensions and power consumption of the AUV. The main purpose of this paper is to present preliminary results of AUV navigation and motion control systems development. The AUV’s navigation system is built around strapdown inertial navigation system (SINS) designed specifically for this AUV. When surfaced, position and angular SINS correction is performed using data from dual-antenna GNSS receiver and doppler velocity log (DVL). When underwater, SINS position and velocity correction is performed using acoustic navigation system (ANS) and DVL data. AUV’s control system provides manual and automatic control. Manual control is carried out in real-time by operator via fiber-optic cable using a joystick. Automatic control allows AUV to move independently along a specified trajectory at a given depth and speed. The AUV also has a collision avoidance system that utilizes readings from a forward-facing acoustic rangefinder to estimate time before impact based on AUV’s analytic model. If possible collision is detected, information is transmitted to the control system so that a further appropriate action can be taken. Computer simulation utilizing the analytic AUV model was used in order to check the performance characteristics of the designed control and navigation algorithms. After confirming the operability of the developed algorithms, preliminary tests of the AUV were carried out. During the tests, AUV’s on-board equipment and navigation system readings were recorded and compared to the readings of the reference system, which was also installed on the AUV. During the tests, the dynamic characteristics of the AUV were evaluated. AUV’s characteristics obtained during simulation and testing will be used as a reference during future developmenthttp://journal.eu-jr.eu/engineering/article/view/1361autonomous underwater vehicle; control system; inertial navigation system; kalman filter; navigation |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Dmitry Antonov Leonid Kolganov Aleksey Savkin Egor Chekhov Maxim Ryabinkin |
spellingShingle |
Dmitry Antonov Leonid Kolganov Aleksey Savkin Egor Chekhov Maxim Ryabinkin NAVIGATION AND MOTION CONTROL SYSTEMS OF THE AUTONOMOUS UNDERWATER VEHICLE EUREKA: Physics and Engineering autonomous underwater vehicle; control system; inertial navigation system; kalman filter; navigation |
author_facet |
Dmitry Antonov Leonid Kolganov Aleksey Savkin Egor Chekhov Maxim Ryabinkin |
author_sort |
Dmitry Antonov |
title |
NAVIGATION AND MOTION CONTROL SYSTEMS OF THE AUTONOMOUS UNDERWATER VEHICLE |
title_short |
NAVIGATION AND MOTION CONTROL SYSTEMS OF THE AUTONOMOUS UNDERWATER VEHICLE |
title_full |
NAVIGATION AND MOTION CONTROL SYSTEMS OF THE AUTONOMOUS UNDERWATER VEHICLE |
title_fullStr |
NAVIGATION AND MOTION CONTROL SYSTEMS OF THE AUTONOMOUS UNDERWATER VEHICLE |
title_full_unstemmed |
NAVIGATION AND MOTION CONTROL SYSTEMS OF THE AUTONOMOUS UNDERWATER VEHICLE |
title_sort |
navigation and motion control systems of the autonomous underwater vehicle |
publisher |
Scientific Route OÜ |
series |
EUREKA: Physics and Engineering |
issn |
2461-4254 2461-4262 |
publishDate |
2020-07-01 |
description |
Autonomous underwater vehicles (AUVs) are widely used and have proven their effectiveness in tasks such as transportation safety, area monitoring and seafloor mapping. When developing AUV’s navigation and control systems, the engineers have to ensure the required levels of accuracy and reliability for solving navigation and motion control tasks in autonomous underwater operation under restrictions on the overall dimensions and power consumption of the AUV. The main purpose of this paper is to present preliminary results of AUV navigation and motion control systems development.
The AUV’s navigation system is built around strapdown inertial navigation system (SINS) designed specifically for this AUV. When surfaced, position and angular SINS correction is performed using data from dual-antenna GNSS receiver and doppler velocity log (DVL). When underwater, SINS position and velocity correction is performed using acoustic navigation system (ANS) and DVL data.
AUV’s control system provides manual and automatic control. Manual control is carried out in real-time by operator via fiber-optic cable using a joystick. Automatic control allows AUV to move independently along a specified trajectory at a given depth and speed. The AUV also has a collision avoidance system that utilizes readings from a forward-facing acoustic rangefinder to estimate time before impact based on AUV’s analytic model. If possible collision is detected, information is transmitted to the control system so that a further appropriate action can be taken.
Computer simulation utilizing the analytic AUV model was used in order to check the performance characteristics of the designed control and navigation algorithms. After confirming the operability of the developed algorithms, preliminary tests of the AUV were carried out. During the tests, AUV’s on-board equipment and navigation system readings were recorded and compared to the readings of the reference system, which was also installed on the AUV. During the tests, the dynamic characteristics of the AUV were evaluated. AUV’s characteristics obtained during simulation and testing will be used as a reference during future development |
topic |
autonomous underwater vehicle; control system; inertial navigation system; kalman filter; navigation |
url |
http://journal.eu-jr.eu/engineering/article/view/1361 |
work_keys_str_mv |
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