C. FUTURE WORK 91
2. Position Estimation Filter 91
The actual implementation of the designed filtering system was unable to be tested on board the CAVR REMUS 100 in a real time environment. The primary focus of follow on work should focus on converting the MATLAB based filtering system into the REMUS architecture. Additionally, further investigation into weighting functions that account for the complete system error should be conducted, specifically looking to use the filter covariance matrices as the primary method of weighting the sensor estimates.
APPENDIX A. VEHICLE PARAMETERS
Vehicle
Parameter Value Units Description
ρ 1030 kg/m3 Seawater Density L 2.26 m Length D 0.19 m Diameter m 52.5 kg Mass W 515.03 N Weight B 518.36 N Buoyancy
Af 0.0285 m2 Hull Frontal Area
xG 0 m Center of Gravity wrt Origin at COB
yG 0 m Center of Gravity wrt Origin at COB
zG 0.0196 m Center of Gravity wrt Origin at COB
Ixx 0.769 kg-m2
X-Moment of Inertia wrt Origin at COB
Iyy 19.13 kg-m2
Y-Moment of Inertia wrt Origin at COB
APPENDIX B. HYDRODYNAMIC COEFFICIENTS
Coefficient Value Units Description Xuu ‐9.54 kg/m Axial Drag in Surge Xu̇ ‐0.93 kg Added Mass in Surge Xwq ‐77.8 kg/rad Added Mass in Surge Cross‐Term Xqq ‐1.93 kg‐m/rad Added Mass in Surge Cross‐Term Xvr 35.5 kg/rad Added Mass in Surge Cross‐Term Xrr ‐1.93 kg‐m/rad Added Mass in Surge Cross‐Term Yvv ‐2850 kg/m Cross‐Flow Drag in Sway Yrr 0.632 kg‐m/rad Cross‐Flow Drag in Sway Yuv ‐28.6 kg/m Body Lift Force and Fin Lift Yv̇ ‐77.8 kg‐m/rad2 Added Mass in Sway Yr ̇ 4.16 kg Added Mass in Sway Yur 0.884 kg/rad Added Mass in Sway Cross‐Term Ywp 77.8 kg/rad Added Mass in Sway Cross‐Term Ypq 4.16 kg‐m/rad Added Mass in Sway Cross‐Term
Yuuδr 9.64 kg‐m/rad Fin Lift Force
Zww ‐28.6 kg/m Cross‐Flow Drag in Sway Zqq ‐0.632 kg/m Cross‐Flow Drag in Sway Zẇ ‐77.8 kg‐m/rad2 Added Mass in Heave Zq̇ ‐4.16 kg‐m/rad Added Mass in Heave Zuw ‐28.6 kg/rad Body Lift Force and Fin Lift Zuq ‐12.22 kg/rad Added Mass in Heave Cross‐Term and Fin Lift Zvp ‐77.8 kg/rad Added Mass in Heave Cross‐Term Zrp 1.5 kg/rad Added Mass in Heave Cross‐Term
Zuuδs ‐9.64 kg/m‐rad Fin Lift Force
Kpp ‐0.13 kg‐m2/ rad2 Rolling Resistance Kṗ ‐0.14 kg‐m2 /rad2 Added Mass Mww 3.18 kg Cross‐Flow Drag in Heave Mqq ‐188 kg‐m2 /rad2 Cross‐Flow Drag in Heave Muw 24 kg Body Lift Force and Fin Lift
Coefficient Value Units Description Mẇ ‐4.16 kg‐m Added Mass in Pitch Mq̇ ‐30 kg‐m2/rad Added Mass in Pitch Muq ‐10 kg‐m/rad Added Mass in Pitch Cross‐Term and Fin Lift Mvp ‐1 kg‐m/rad Added Mass in Pitch Cross‐Term Mrp 4.86 kg‐m2 /rad2 Added Mass in Pitch Cross‐Term Muuδs ‐6.15 kg/rad Fin Lift Moment
Nvv ‐3.18 kg Cross‐Flow Drag in Yaw Nrr ‐100 kg‐m2 /rad2 Cross‐Flow Drag in Yaw Nuv ‐24 kg Body and Fin Lift Moment Nv̇ 4.16 kg‐m Added Mass in Yaw Nṙ ‐4.88 kg‐m2/rad Added Mass in Yaw Nur ‐2 kg‐m/rad Added Mass in Yaw Cross‐Term and Fin Lift Nwp ‐1.93 kg‐m/rad Added Mass in Yaw Cross‐Term Npq ‐4.86 kg‐m2 /rad2 Added Mass in Yaw Cross‐Term Nuuδr ‐6.15 kg/rad Fin Lift Moment
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