Model-based Cooperative Acoustic Navigation and Parameter Identification for Underactuated Underwater Vehicles
Model-based Cooperative Acoustic Navigation and Parameter Identification for Underactuated Underwater Vehicles
复制标题
基于模型的欠驱动水下航行器协同声学导航和参数识别
DOI：
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
Zachary J. Harris
中科院分区：
文献类型：
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作者：
Zachary J. Harris
本论文报告了新颖的理论和实验结果，解决两个日益重要的问题，在水下机器人：基于模型的合作声导航水下车辆（UV）缺乏多普勒测速仪（DVL）和dynamicmodel参数估计欠驱动的UV，如现在无处不在的类鱼雷形UV。本文提出了一种同时辨识紫外动态对象模型参数的方法（质量、附加质量、水动力阻力和浮力等关键项的参数）和控制执行器参数（控制面模型和推进器模型），以容许代表真实世界传感器数据的代表的模拟传感器测量噪声，以及广泛的数值模拟，以评估该方法对传感器噪声的灵敏度。目前的国家的最先进的单向走时组合声通信和导航（合作声导航）是利用纯粹的运动学，constantvelocityplant过程模型与船上的底部锁定DVL一起提供频繁的，高精度的速度校正。然而，DVL是昂贵的，耗电量大，物理上大，并限于声学底部锁定范围，这限制了它们在海底以上或表面冰下的使用。仿真和实验结果表明，在没有运动学模型的情况下，水下UV协同声导航的位置估计是很差的，甚至是不稳定的
This thesis reports novel theoretical and experimental results addressing two increasingly important problems in underwater robotics: model-based cooperative acoustic navigation for underwater vehicles (UVs) lacking a Doppler velocity log (DVL) and dynamicmodel parameter estimation for underactuated UVs, such as the now-ubiquitous class of torpedo-shaped UVs. This thesis reports an extension of a method to identify simultaneously UV dynamical plant model parameters (parameters for critical terms such as mass, added mass, hydrodynamic drag, and buoyancy) and control-actuator parameters (controlsurface models and thruster model) in 6 degree of freedom (DOF) to tolerate simulated sensor measurement noise representative of representative of real-world sensor data, as well as extensive numerical simulations to evaluate the sensitivity of the approach to sensor noise. The current state-of-the-art in one-way travel-time combined acoustic communication and navigation (cooperative acoustic navigation) is to utilize purely kinematic, constantvelocity plant process models together with an on-board bottom-lock DVL to provide frequent, high-accuracy velocity corrections. However, DVLs are expensive, power consumers, physically large, and limited to acoustic bottom-lock range, which restricts their use toO(10−100m) above the sea floor or beneath surface ice. Simulation and experimental results reported herein indicate the submerged UV position estimate from cooperative acoustic navigation with a kinematic model is poor and even unstable in the absence of ii