Gimbal orientation study and assessment for the autonomous underwater vehicles

Abstract

Autonomous underwater vehicles are at present being used for scientific, commercial and military submerged applications. In this paper, a system has been proposed which can be used underwater as remotely operated underwater vehicle for submerged survey for different purposes. These systems require self-sufficient direction and control frameworks so as to perform submerged assignments. Displaying, framework identification and control of these vehicles are as yet real dynamic zones of innovative work. This theory is worried about the plan and improvement of an Autonomous Underwater Vehicle (AUV) specifically proposed for passage into global submerged vehicle rivalries. The theory comprises of two stages; the first includes the plan and development of the vehicle while the subsequent stage is worried about the demonstrating and framework identification of the vehicle, just as the reproduction of a control system. The structure and advancement of the vehicle comprised of actualizing a mechanical and electrical framework, just as the reconciliation of subsystems. The framework identification of the vehicle parameters comprised of utilizing locally available sensors to perform static and dynamic tests. Least squares estimation was utilized to gauge the parameters from the pre-researched data obtained.

Keywords

• IMU sensor
• Gimbal stabilization
• Kalman filter
• MATLAB Simulink
• Brushless DC motor