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Reglering och navigering av en undervattensfarkostmed hjälp av GPS-utrustade bojar
Linköping University, Department of Electrical Engineering. (Reglerteknik)
2008 (Swedish)Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesisAlternative title
Control and navigation of an underwater vehicle with the aid of GPS-equipped buoys (English)
Abstract [sv]

Examensarbetets mål är att hitta möjligheter till förbättring av navigeringsprestandahos en undervattensfarkost med hjälp av bojar utrustade med GPS. Dessabojar skickar positionsdata till farkosten som med hjälp av ett extended kalmanfilter(EKF) integrerar denna information till att förbättra sin navigering.Ett ytterligare mål med examensarbetet har även varit att skapa en simuleringsmiljöför en liten farkost, där eventuella nya algoritmer eller sensorer, vidframtida behov, på ett smidigt sätt skall kunna integreras för utprovning. Dettahar i arbetet inneburit en anpassning av en fysikalisk 6-DOF modell till enliten undervattensfarkost samt en reglerdesign för detta system i form av kaskadkoppladePI-regulatorer och parameterstyrning. Simuleringsmiljön är skapad medhjälp av Matlab och Simulink.

Abstract [en]

The goal of this master thesis is to find improvements of performance in the navigationof an underwater vehicle with the aid of buoys equipped with GPS receievers.These buoys send positioning data to the vehicle which by using an extendedkalman filter (EKF) fuses this information in order to improve its navigation ability.Another goal with the master thesis has been to create a simulation environmentfor a small underwater vehicle, in which new algorithms or sensors shouldbe able to be integrated easily for various testing. In this assignment this hasresulted in an adaptation of a 6-DOF model to a small underwater vehicle as wellas a regulator design for this system by means of cascade coupled PI regulatorsand gain scheduling. The simulation environment is created within Matlab andSimulink.

Place, publisher, year, edition, pages
2008. , 70 p.
Keyword
GPS, underwater, buoy, Kalman
National Category
Control Engineering Engineering and Technology
Identifiers
URN: urn:nbn:se:liu:diva-15084ISRN: LITH-ISY-EX--08/4218--SEOAI: oai:DiVA.org:liu-15083DiVA: diva2:54432
Presentation
Glashuset, B-huset Linköpings Universitet, Linköping (Swedish)
Uppsok
teknik
Supervisors
Examiners
Available from: 2008-10-17 Created: 2008-10-14 Last updated: 2008-12-28Bibliographically approved

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CiteExportLink to record
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Citation style
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  • harvard1
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