Navigation and control of an unmanned sea surface vehicle

Download
2015
Kumru, Murat
In this study, navigation and control algorithms for unmanned sea surface vehicles are investigated. For this purpose, firstly the mathematical model of a sea surface vehicle with two propellers providing stable maneuvering capabilities is constructed considering Newton-Euler equations. The next phase is to design a suitable navigation algorithm which integrates the solutions of “Inertial Navigation System (INS)” and external aids such as “Global Navigation Satellite System (GNSS)” and magnetometer. At this step, different loosely coupled integration algorithms are developed, and their performances are compared. After that, a model boat is assembled with necessary electrical equipment and driving system as a test platform for the navigation implementations. The results of the navigation algorithm obtained by processing real data collected from the model boat are presented. Meanwhile, the corrected navigation solution is also utilized within a parallel independent study aiming to identify the real parameters of the mathematical model of the boat. Finally, the design of various autopilot algorithms is studied taking the improved mathematical model into account. LQR and “Feedback Linearization” based controllers are realized for this job. The results of the controllers are provided and compared.

Suggestions

Navigation and system identification of an unmanned underwater survey vehicle
Kartal, Seda Karadeniz; Leblebicioğlu, Mehmet Kemal; Department of Electrical and Electronics Engineering (2017)
This study includes the mathematical model of an unmanned underwater vehicle, autopilot and the guidance design, the navigation solution and system identification of the unmanned underwater survey vehicle SAGA (Su Altı Gözlem Aracı). First, the 6 degrees-of-freedom (DOF) nonlinear mathematical model of an unmanned underwater vehicle is obtained by a Newton-Euler formulation. Then, the autopilot is designed by utilizing the proportional–integral–derivative (PID) control approach. The navigation problem is so...
Control and guidance of an unmanned sea surface vehicle
Ahıska, Kenan; Leblebicioğlu, Mehmet Kemal; Department of Electrical and Electronics Engineering (2012)
In this thesis, control and guidance algorithms for unmanned sea surface vehicles are studied. To design control algorithms of different complexity, first a mathematical model for an unmanned sea surface vehicle is derived. The dynamical and kinematical equations for a sea surface vehicle are obtained, and they are adapted to real life conditions with necessary additions and simplifications. The forces and torques effecting on the vehicle are investigated in detail. Control algorithms for under-actuated six...
Vision-based Navigation and System Identification of Underwater Survey Vehicle
Kartal, Seda Karadeniz; Leblebicioğlu, Mehmet Kemal; Ege, Emre (2015-05-19)
In this study, a nonlinear mathematical model for an unmanned underwater survey vehicle is obtained. The inertial navigation system and vision-based measurement systems are modelled. The magnetic compass, depth sensor and pitot tube are used in order to support vehicle's attitude, velocity and depth information. The state errors are estimated with error state estimation algorithm from the noisy measurement data. The navigational data of the vehicle can be obtained accurately using the extended Kalman filter...
System identification and control of a sea surface vehicle
Erünsal, İzzet Kağan; Leblebicioğlu, Mehmet Kemal; Department of Electrical and Electronics Engineering (2015)
In this study, modeling, system identification and controller design for a sea surface vehicle are performed to facilitate major goals such as autopilot design and guidance. The vehicle has been modeled by a combination of several approaches proposed in the literature. For system identification purposes, a time domain, offline, deterministic, gray-box methodology is developed. In this methodology, efficient optimization algorithms such as genetic algorithm (GA) and global search algorithm (GS) are utilized ...
Aerodynamic modeling and parameter estimation of a quadrotor helicopter
Kaya, Derya; Kutay, Ali Türker (2014-01-01)
This study focuses on aerodynamic modeling of a quadrotor helicopter and the estimation of the model parameters in wind tunnel tests for hover, vertical climb, and forward flight conditions. The motion of a quadrotor is mainly affected by the aerodynamic forces and moments generated by rotors. Accurate calculation of rotor loads is essential for high fidelity simulation of a quadrotor. Momentum and blade element theories are used to obtain expressions for rotor forces and moments for a traveling vehicle. Th...
Citation Formats
M. Kumru, “Navigation and control of an unmanned sea surface vehicle,” M.S. - Master of Science, Middle East Technical University, 2015.