Application: uMVS_Bluefin

Brief Synopsis:

High-fidelity dynamic model for BF21 UUV used for simulating platform maneuvering in the Virtual Ocean.

Authors:

  • David Battle

Groups:

Dependencies:

  • libMOOS, mbutil, lib_newmat10D.

Distribution:

  • lamss.mit.edu

Contact Email:

  • david.battle@optusnet.com.au

Function:

Physics-based dynamic model for the Bluefin Robotics BF21 UUV, which provides the frontseat interface to the Virtual Ocean for simulating realistic platform maneuvering in response to speed, heading and depth commands from the backseat pHelmIvP. Calibrated for the MIT BF21 Macrura it is a high-fidelity alternative to the standard uSimMarine for UUVs, and with minor tuning of the PID parameters it is applicable to a wide range of torpedo-shaped UUVs. Handles platform response to ocean currents, and coupled response to a towed array, for example.

Lines of Code:

  • 3,036 (with libraries: 3,036)

Files of Code:

  • 35 (with libraries: 35)

Work Years:

  • 0.64 (with libraries: 0.64)