Identification of hydrodynamic characteristics of autonomous underwater robot using the model and experimental data
https://doi.org/10.17285/0869-7035.2017.25.1.078-092
Abstract
Hydrodynamic properties of an autonomous underwater vehicle are among the key factors determining the quality of control when making spatial motions. The results of the work are based upon the experience in development and practical application of autonomous underwater vehicles at the Institute of Marine Technology Problems (IMTP) FEB RAS. The identification method of AUV hydrodynamic characteristics is presented in the work. It is based on use of computing virtual hydrodynamics and trajectory measurements of the state vector in various motion modes. The estimation of the hydrodynamic characteristics is given for one of the underwater robots created in IMTP FEB RAS over the last years.
About the Authors
L. V. Kiselev
Institute of Marine Technology Problems (IMTP) FEB
RAS, Vladivostok
Russian Federation
Russian Federation
A. V. Bagnitckii
Institute of Marine Technology Problems (IMTP) FEB
RAS, Vladivostok
Russian Federation
Russian Federation
A. V. Medvedev
Institute of Marine Technology Problems (IMTP) FEB
RAS, Vladivostok
Russian Federation
Russian Federation
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Review
For citations:
Kiselev L.V., Bagnitckii A.V., Medvedev A.V. Identification of hydrodynamic characteristics of autonomous underwater robot using the model and experimental data. Giroskopiya i Navigatsiya. 2017;25(1):78-92. (In Russ.) https://doi.org/10.17285/0869-7035.2017.25.1.078-092
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