Optical 2D Positional Estimation for a Biomimetic Station-keeping Autonomous Underwater Vehicle PDF Download

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Optical 2D Positional Estimation for a Biomimetic Station-keeping Autonomous Underwater Vehicle

Optical 2D Positional Estimation for a Biomimetic Station-keeping Autonomous Underwater Vehicle PDF Author: Christopher Nunes
Publisher:
ISBN:
Category : Biometric identification
Languages : en
Pages : 124

Book Description
Underwater vehicles often use acoustics or dead reckoning for global positioning, which is impractical for low cost, high proximity applications. An optical based positional feedback system for a wave tank operated biomimetic station-keeping vehicle was made using an extended Kalman filter and a model of a nearby light source. After physical light model verification, the filter estimated surge, sway, and heading with 6 irradiance sensors and a low cost inertial measurement unit (~$15). Physical testing with video feedback suggests an average error of ~2cm in surge and sway, and ~3deg in yaw, over a 1200 cm2 operational area. This is 2-3 times better, and more consistent, than adaptations of prior art tested alongside the extended Kalman filter feedback system. The physical performance of the biomimetic platform was also tested. It has a repeatable forward velocity response with a max of 0.3 m/s and fair stability in surface testing conditions.
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