Summary of dissertation: Developing an algorithm of navigation and control for underwater vehicles

Constructing the methodology for synthesizing navigation algorithm and motion control algorithm for underwater vehicles equipped platform or strapdown inertial navigation system during independent motion (Autonomous).
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Summary of dissertation: Developing an algorithm of navigation and control for underwater vehiclesMINISTRY OF EDUCATION AND MINISTRY OF DEFENCE TRAINING ACADEMY OF MILITARY SCIENCE AND TECHNOLOGY DUY TRUNG truongDeveloping an algorithm of navigation and control for Underwater vehiclesSpecialty: Control engineering and AutomationCode : 65 52 02 16 SUMMARY OF DISSERTATION HAnOi 2014Dissertation was compeleted at: ACADEMY OF MILITARY SCIENCE AND TECHNOLOGY MINISTRY OF DEFENCEScientific supervisors: 1. Ass. Prof. Dr. Duc Thuan Tran 2. Dr. Quang Vinh NguyenReviewer 1: Ass. Prof. Dr. Van Nha Dinh Hanoi University of Science and TechonologyReviewer 2: Dr. Quang Hai Nguyen Navy engineering InstituteReviewer 3: Dr. Vu Nguyen Academy of Military Science and Technology This doctoral dissertation will be defended to the dissertation committee.This event is going to be celebrated at Academy of Military Science andTechnology, …., 2014Be able to be found out at:- The Library of Academy of Military Science and Technology- The National Library of Vietnam INTRODUCTION SECTION 1. Introduction Research, development of underwater vehicles including anti-submarine weapons are importance in the development, protecting oursea and Islands. Figure 1: The motion trajectory of ASWs dropping from plane Anti-submarine weapons (ASWs) drop motion with a parasol fromplane. The error between actual water touched point and calculatedwater touched point of ASWs including the error of opportunitiesrelease ASWs from plane and error of water touched point due todifference trajectory when ASWs drop motion with a parasol in theatmosphere. This error may exceed the operating limits of self leadsequipment of ASWs so that ASWs will not detect the target (figure1).Thus, to improve target detection, ASWs should motion to the point ofcontact of desired trajectory. To overcome the above error, thedissertation proposed adding inertial navigation system (platform orstrapdown inertial navigation system) for ASWs released from plane.The dissertation is going into two basic problems that are navigation andcontrol of ASWs with offer additional inertial navigation system. 12. The goal of research: Constructing the methodology for synthesizing navigation algorithmand motion control algorithm for underwater vehicles equipped platformor strapdown inertial navigation system during independent motion(Autonomous).3. Subject and method of the study:- The object of the dissertation research: The control system of torpedo shape autonomous underwater vehicles.- Research methodology: Applying tools and mathematical methods of modern control theory for developing navigation and control algorithms. Using simulation techniques to assess.4. Scientific contributions and practical contributions:- The results of reseach in this dissertation are a scientific basis for constructing the software for the control system of anti-submarine weapon equipped inertial navigation system.- The results of reseach in this dissertation are the basis for improvement, modernization of the existing anti-submarine weapons and for design, manufacture new anti-submarine weapons.5. Layout of dissertation: The dessertation has introduction section, four chapters, conclusion and two annexes. Content of the dissertation is presented in 119 A4 papers: Chapter 1. Overview of navigation and control of underwater vehicles Chapter 2. Developing an algorithm for determining navigation parameters for anti-submarine weapons Chapter 3. Proposing identification and control algorithms for anti- submarine weapons Chapter 4. Simulation of identification, navigation and control algorithms for anti-submarine weapons. 2 Chapter 1 OVERVIEW OF NAVIGATION AND CONTROL OF UNDERWATER VEHICLES1.1 Overview of underwater vehicles The dissertation calculates the corrected trajectory of anti-submarineweapons (ASWs) dropping with a parasol from plane and controlsASWs motion follow the corrected trajectory. Thus need to constantlydetermine the position and attitude of ASWs during drop motion with aparasol in the atmosphere and the motion in the water environment forthe correcting trajectory period. Figure 1.5: The desired and correcting trajectory of ASWs1.2 The frames used in describing the motion of underwater vehicles Figure 1.9: Relations of the Earth frame and the local-level frame Figure 1.10: The body frame 31.2.1 The inertial frame The inertial frame is a frame without acceleration.1.2.2 The Earth frame The earth frame OX eY e Z e (figure 1.9).1.2.3 The local-level frame The local-level frame (navigation frame) OX 0Y0 Z 0 (figure 1.9).1.2.4 The body frame The body frame Gb X bYb Z b (figure 1.10).1.2.5 Frame transformation matrix1.2.5.1 Euler angle method Perform three consecutive rotations according to the Euler angle ( ,  , ) to determine the cosine matrix from the body frame to local-level frame.1.2.5.2 The method using Rodrig – Hamilton parameters Orientation cosine matrix from body frame to local-level frame canbe determined by Rodrig - Hamilton parameters:  202  212  1 212  20 3 213  202   c11 c12 c13   Cbn   212  20 3 202  222  1 223  201   c21 c22 c23  (1.12)    213  20 2 223  201 2 ...