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Volume 27 Issue 3
 
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Article Navigation >  Journal of Unmanned Undersea Systems  > 2019  >  27(3): 333-338
ZHOU Qi-run, ZENG Qing-jun, YAO Jin-yi, ZHU Zhi-yu, DAI Wen-wen. Design and Implementation of Dynamic Positioning System for a Fully Actuated AUV[J]. Journal of Unmanned Undersea Systems, 2019, 27(3): 333-338. doi: 10.11993/j.issn.2096-3920.2019.03.015
Citation: ZHOU Qi-run, ZENG Qing-jun, YAO Jin-yi, ZHU Zhi-yu, DAI Wen-wen. Design and Implementation of Dynamic Positioning System for a Fully Actuated AUV[J]. Journal of Unmanned Undersea Systems, 2019, 27(3): 333-338. doi: 10.11993/j.issn.2096-3920.2019.03.015
shu

Design and Implementation of Dynamic Positioning System for a Fully Actuated AUV

doi: 10.11993/j.issn.2096-3920.2019.03.015

  • School of Electronics and Information, Jiangsu University of Science and Technology, Zhenjiang 212003, China

  • Received Date: 2019-01-17
  • Rev Recd Date: 2019-03-06
  • Publish Date: 2019-06-30
    Abstract
  • A dynamic positioning control method based on proportional-integral-derivative (PID) control for fully actuated autonomous undersea vehicle(AUV) is presented to solve the problem that AUV is sensitive to environmental disturbance due to its small inertia in the near-surface motion control. Taking the independently developed T-SEA I type AUV prototype for example, the structural design idea of the AUV system is introduced. The dead reckoning system is composed by optical fiber inertial navigation system, Doppler velocity log and depth gauge. The position and attitude errors are compensated by PID control to resist environmental disturbance. Lake test verifies the practicability of the dynamic positioning system. This study may provide a reference for future researches on underwater search and rescue, object location, and so on.

     

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