수중정찰용 자율무인잠수정의 운동 모델링 및 항법보조 응용 고찰

Abstract

This paper presents a dynamic modeling of an AUV named WH200 for underwater surveillance and its application as an auxiliary velocity information to a model-based integrated INS. This paper briefly introduces mathematical model of WH2000 considering its shape. The hydrodynamic coefficients were estimated by empirical formulas and data base of similar-shaped vehicles. A least square method were implemented to estimate unknown nonlinear parameters of WH200. The parameters were finely tuned by comparing the experiments and the simulated responses generated by adopting the same control inputs of the experiment. HW200’s speed for the test was fixed with 1.83m/s. We have conducted another simulation with an experiment including variable speed commands. The simulated ones have shown good results being similar with those of the experiment even under speed variation. The model of HW200, therefore, can be implemented as a model-assisted integrated INS system. This paper also discussed the feasibility of the integrated navigation system to improve navigation performance.nsidering its shape. The hydrodynamic coefficients were estimated by empirical formulas and data base of similar-shaped vehicles. A least square method were implemented to estimate unknown nonlinear parameters of WH200. The parameters were finely tuned by comparing the experiments and the simulated responses generated by adopting the same control inputs of the experiment. HW200’s speed for the test was fixed with 1.83m/s. We have conducted another simulation with an experiment including variable speed commands. The simulated ones have shown good results being similar with those of the experiment even under speed variation. The model of HW200, therefore, can be implemented as a model-assisted integrated INS system. This paper also discussed the feasibility of the integrated navigation system to improve navigation performance.