Show/Hide Menu
Hide/Show Apps
Logout
Türkçe
Türkçe
Search
Search
Login
Login
OpenMETU
OpenMETU
About
About
Open Science Policy
Open Science Policy
Open Access Guideline
Open Access Guideline
Postgraduate Thesis Guideline
Postgraduate Thesis Guideline
Communities & Collections
Communities & Collections
Help
Help
Frequently Asked Questions
Frequently Asked Questions
Guides
Guides
Thesis submission
Thesis submission
MS without thesis term project submission
MS without thesis term project submission
Publication submission with DOI
Publication submission with DOI
Publication submission
Publication submission
Supporting Information
Supporting Information
General Information
General Information
Copyright, Embargo and License
Copyright, Embargo and License
Contact us
Contact us
Vision-based Navigation and System Identification of Underwater Survey Vehicle
Date
2015-05-19
Author
Kartal, Seda Karadeniz
Leblebicioğlu, Mehmet Kemal
Ege, Emre
Metadata
Show full item record
This work is licensed under a
Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License
.
Item Usage Stats
233
views
0
downloads
Cite This
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. Then, some parameters which are vaguely known in the mathematical model of the vehicle have been estimated by a system identification study. All of this study is performed in Matlab/Simulink.
Subject Keywords
Inertial navigation
,
Integration navigation system
,
Mathematical modelling
,
Unmanned underwater vehicle
,
Vision-based navigation
,
System identification
URI
https://hdl.handle.net/11511/53580
Collections
Department of Electrical and Electronics Engineering, Conference / Seminar
Suggestions
OpenMETU
Core
Experimental test of the acoustic-based navigation and system identification of an unmanned underwater survey vehicle (SAGA)
KARTAL, SEDA; Leblebicioğlu, Mehmet Kemal; Ege, Emre (2018-05-01)
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 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 ma...
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...
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...
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...
Underwater gliders: modeling, control and simulation studies
Gören, Semih; Leblebicioğlu, Mehmet Kemal; Department of Electrical and Electronics Engineering (2016)
This thesis includes mathematical model, navigation, controller design and guidance of the underwater gliders. Firstly, the mathematical model of the underwater glider is obtained with external forces and moments. The hydrodynamic coefficients are obtained by using the strip theory and Missile DATCOM Simulation Program. For navigation, optimal state estimator Kalman filter is implemented to find the position and the linear velocities of the underwater glider. The controllers are designed according to the li...
Citation Formats
IEEE
ACM
APA
CHICAGO
MLA
BibTeX
S. K. Kartal, M. K. Leblebicioğlu, and E. Ege, “Vision-based Navigation and System Identification of Underwater Survey Vehicle,” 2015, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/53580.