Published in:
at - Automatisierungstechnik, 63 (2015) 5, Seite 355-367
Language:
English
DOI:
10.1515/auto-2014-1173
ISSN:
0178-2312;
2196-677X
Origination:
Footnote:
Description:
Abstract In this paper, a framework for guidance, navigation and control of marine vehicles is proposed. The focus is on application of unmannedsurface vehicle for performing high accuracy measuring tasks. The desired maneuvering path is defined as a combination of standardpath sections and delivered to the guidance system. The measurements are filtered and the unmeasurable states are estimated innavigation system and fed back to the guidance and control systems. An extended Kalman filter based approach is used in navigationsystem, in order to take the nonlinear behaviors of the system into consideration. The proposed control scheme is a modular systemconsisting of a cascade structure, where the unified inner loop is responsible for velocity control and the outer loop can be adaptedindependently to various missions. The model parameters are estimated based on subspace identification method using data obtained froma measuring vehicle, MESSIN. The results have been further used for design of control and navigation systems. The performance andeffectiveness of the proposed framework are demonstrated on a model for a path following mission.