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mahdi, M., malekpoor, M. (2022). Extraction of Hydrodynamic Coefficients of the Remus Underwater Vehicle Robot by Coupling the CFX Software Simulator and Kalman Filter Estimator Code.. Electronic and Cyber Defense, 11(1), 71-81.
miralam mahdi; Mohammad malekpoor. "Extraction of Hydrodynamic Coefficients of the Remus Underwater Vehicle Robot by Coupling the CFX Software Simulator and Kalman Filter Estimator Code.". Electronic and Cyber Defense, 11, 1, 2022, 71-81.
mahdi, M., malekpoor, M. (2022). 'Extraction of Hydrodynamic Coefficients of the Remus Underwater Vehicle Robot by Coupling the CFX Software Simulator and Kalman Filter Estimator Code.', Electronic and Cyber Defense, 11(1), pp. 71-81.
mahdi, M., malekpoor, M. Extraction of Hydrodynamic Coefficients of the Remus Underwater Vehicle Robot by Coupling the CFX Software Simulator and Kalman Filter Estimator Code.. Electronic and Cyber Defense, 2022; 11(1): 71-81.

Extraction of Hydrodynamic Coefficients of the Remus Underwater Vehicle Robot by Coupling the CFX Software Simulator and Kalman Filter Estimator Code.

مکانیک سیالات و آیرودینامیک
Article 5, Volume 11, Issue 1 - Serial Number 29, October 2022, Pages 71-81    PDF (785.8 K)
Document Type: Original Article
Authors
miralam mahdi* 1; Mohammad malekpoor2
1Associate Professor, Shahid Rajaee Teacher Training University, Tehran, Iran
2Masters student, Shahid Rajaee Teacher Training University, Tehran, Iran
Receive Date: 12 February 2022,  Revise Date: 11 July 2022,  Accept Date: 23 July 2022 
Abstract
Estimation of the hydrodynamic coefficients of an autonomous underwater vehicle is the purpose of this paper. The Kalman filter method has been used for estimating the AUV hydrodynamic coefficients.  To estimate hydrodynamic coefficients without knowing their initial values, spatial and temporal information of the AUV are needed. This information can be collected through different methods including experimental methods which gather the required information by the sensors installed on the AUV. In this paper, outputs related to the time and location information are collected using robot maneuver simulation in CFX software, with a movable grid being used to simulate the robot maneuver. In movable grid method, when the mesh quality has been reduced by a certain level, the meshing around the robot is summoned to the WB environment and after performing the new meshing, it is returned to the CFX environment to continue the simulation. To derive the hydrodynamic coefficients of the autonomous underwater vehicle, a sinusoidal maneuver at three degrees of freedom is selected for simulation in CFX software. The collected results from the sine maneuver simulation are applied as input to the Kalman filter estimator code. The hydrodynamic coefficients whose extraction is desired, are defined as unknown parameters in the robot control equations. In this maneuver the hydrodynamic coefficients have been extracted with good accuracy. Also to improve the Matlab code and increase the accuracy of extracting hydrodynamic coefficients, the control equation are written in the matrix form. Thus, the number of extracted coefficients are decreased but the coefficients are extracted with higher accuracy.
Keywords
Hydrodynamic Coefficients; Underwater Vehicle; Kalman Filter
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