Experimental test of the acoustic-based navigation and system identification of an unmanned underwater survey vehicle (SAGA)

2018-05-01
KARTAL, SEDA
Leblebicioğlu, Mehmet Kemal
Ege, Emre
In this study, a nonlinear mathematical model for an unmanned underwater survey vehicle (SAGA) is obtained. The structure of the mathematical model of the vehicle comes from a Newton-Euler formulation. The three-dimensional motion is realized by a suitable combination of right, left and vertical thrusters. The navigation problem is solved by a combination of the inertial navigation system and acoustic-based measurements, which are integrated to obtain more accurate vehicle navigation data. In addition, a magnetic compass and a depth sensor are used to support vehicle attitude and depth information. A pool experimental set-up is designed for the navigation system. The performance of the resultant navigation system can be analysed by creating suitable system state, measurement and noise models. The vehicle navigational data are improved with a Kalman filter. The mathematical model of the vehicle includes some unknown parameters, such as added mass and damping coefficients. It is not possible to determine all the parameter values as their effect on the state of the system is usually negligible. However, most of the important' parameters are obtained from a system identification study of the vehicle by means of the estimated navigational data for coupled motion. The entire study is performed in a Matlab/Simulink environment.
TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL

Suggestions

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...
Experimental test of vision-based navigation and system identification of an unmanned underwater survey vehicle (SAGA) for the yaw motion
Kartal, Seda Karadeniz; Leblebicioğlu, Mehmet Kemal; Ege, Emre (SAGE Publications, 2019-05-01)
In this study, a nonlinear mathematical model for an unmanned underwater survey vehicle (SAGA) is obtained. The structure of the mathematical model of the vehicle comes from a Newton-Euler formulation. The yaw motion is realized by a suitable combination of right and left thrusters. The navigation problem is solved by using the inertial navigation system and vision-based measurements together. These are integrated to more accurately obtain navigation data for the vehicle. In addition, the magnetic compass i...
Optimal Autopilot and Guidance of the ROV: SAGA
Kartal, Seda Karadeniz; Ege, Emre; Leblebicioğlu, Mehmet Kemal (2016-05-20)
In this study, an optimal autopilot algorithm is developed for 3D motion of SAGA which is an unmanned underwater survey vehicle. Firstly, a nonlinear mathematical model for SAGA is obtained. The structure of the mathematical model of the vehicle comes from a Newton-Euler formulation. The resultant nonlinear system is then controlled by PID controllers. These PID controllers arc designed for 3D motion which is realized by a suitable combination of right, left and vertical thrusters. The optimal control probl...
An Approach for System Identification in Unmanned Surface Vehicles
Erunsal, Izzet Kagan; Ahiska, Kenan; Kumru, Murat; Leblebicioğlu, Mehmet Kemal (2017-10-21)
In this study, a system identification methodology is introduced to determine the model parameters of unmanned surface vehicles. The proposed identification scheme is based on sequencing the experiments according to their capabilities to identify the model parameters. In each experiment, the parameters to be found are updated and the results are validated before ascertaining the final value. A procedure to complete the identification work in an experiment, namely the required post-processing, the optimizati...
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...
Citation Formats
S. KARTAL, M. K. Leblebicioğlu, and E. Ege, “Experimental test of the acoustic-based navigation and system identification of an unmanned underwater survey vehicle (SAGA),” TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, pp. 2476–2487, 2018, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/44286.