Observability Analysis of 3D AUV Trimming Trajectories in the Presence of Ocean Currents using Single Beacon Navigation

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2014

Autores

Aguiar, AP (Autor) FEUP; Naveena Crasta (Autor) Outra; Mohammadreza Bayat (Autor) Outra; Antonio M. Pascoal (Autor) Outra

Ata de Conferência Internacional

Título: IFAC PAPERSONLINE

Páginas: 4222-4227

19th World Congress of the International-Federation-of-Automatic-Control (IFAC)

Cape Town, SOUTH AFRICA, AUG 24-29, 2014

Indexação

ISI Web of Knowledge - 1 Citação

Outras Informações

ID Authenticus: P-00N-DVG

Abstract (EN): This paper addresses the observability properties of a 3D autonomous underwater vehicle (AUV) model in the presence of ocean currents, under the assumption that the vehicle can only measure its distance to a fixed transponder using an acoustic ranging device. In the set-up adopted, the AUV may undergo a wide range of maneuvers that are usually described as trimming trajectories. The latter are of paramount importance in flight dynamics and can be completely parametrized by three variables: i) linear body speed nu; ii) flight-path angle gamma; and iii) yaw rate psi : We assume that nu > 0; gamma; and psi are constant but otherwise arbitrary (within the constraints of the vehicle capabilities) and examine the observability of the resulting system with the output (measured) variable described above. We adopt weaker de finitions of observability that are akin to those proposed by Herman and Krener (Hermann and Krener, 1977) but reflect the fact that we consider specific kinds of maneuvers in 3D. We show that in the presence of known constant ocean currents the 3D kinematic model of the AUV that corresponds to trimming trajectories with nonzero flight path angle and yaw rate is observable. In case the latter conditions fail, we give a complete characterization of the sets of states that are indistinguishable from a given initial state. We further show that in the case of unknown constant ocean currents the model is locally weakly observable for yaw rate different from zero but fails to be locally weakly observable for zero yaw rate. In both the cases we give a complete characterization of the sets of states that are indistinguishable from a given initial state.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 6