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Guidance and Control of Ocean Vehicles

This document discusses guidance and control of ocean vehicles. It covers modeling marine vehicles which involves studying statics, dynamics, and kinematics. It defines two coordinate frames - a body fixed frame and an earth fixed frame. It describes using position, orientation, linear and angular velocities to represent the vehicle's motion relative to these frames. Forces and moments acting on the vehicle are also defined.

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77 views4 pages

Guidance and Control of Ocean Vehicles

This document discusses guidance and control of ocean vehicles. It covers modeling marine vehicles which involves studying statics, dynamics, and kinematics. It defines two coordinate frames - a body fixed frame and an earth fixed frame. It describes using position, orientation, linear and angular velocities to represent the vehicle's motion relative to these frames. Forces and moments acting on the vehicle are also defined.

Uploaded by

bhathiyaeng
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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GUIDANCE AND CONTROL OF OCEAN VEHICLES

Modeling of marine vehicles


Involves the study of statics and dynamics.
Statics is concerned with the equilibrium of bodies at rest
or moving with constant velocity.
Dynamics is concerned with bodies having accelerated
motion.

Table:Notation used for marine vehicles

Kinematics
Coordinate Frames
Define two coordinate frames as indicated.

Figure:Body fixed and earth fixed frames

Xo - longitudinal axis,Yo - transverse axis,Zo - normal axis


Position and orientation of the vehicle is described relative
to the inertial reference.
Linear and angular velocities of the vehicle is expressed in
the body-fixed coordinate system.

Neta denotes the position and orientation vector with


coordinates in the earth fixed frame
v denotes the linear and angular velocity vector with
coordinates in the body-fixed frame
Tau is used to describe the forces and moments acting
on the vehicle in the body-fixed frame

Orientation is usually represented by means of Euler


angles or quaternions.
Euler Angles
vehicle's flight path relative to the earth-fixed coordinate
system is given by a velocity transformation

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