Application: pHydroMAN_BasicModel

Brief Synopsis:

A hydrodynamic model aided navigation system for AUVs.

Authors:

  • Supun Randeni

Groups:

Distribution:

Documentation:

Contact Email:

  • supun@mit.edu

Function:

pHydroMAN_BasicModel is one of the core apps of Hydroman Toolbox. It uses the last GPS update, propeller RPM, vehicle roll, pitch, heading angles and control surface angles received from AUV's frontseat, and computes linear velocities of the AUV in both body-fixed and earth-fixed reference frames (i.e. u, v, w and xdot, ydot and zdot). The dynamic model based localization solution is also computed for low-cost AUVs with no DVL, LBL/USBL or INS. The hydrodynamic parameters of the AUV are to be configured in the configuration file.