Browsing by Author "Villa, Murillo Prestes"
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- Estudo e desenvolvimento de protótipos para estimação da velocidade de veículos autónomos submarinosPublication . Villa, Murillo Prestes; Silva, Eduardo Alexandre Pereira daThis thesis presents sensor prototypes for estimating the velocity of autonomous underwater vehicles (AUVs). The work presented throughout this document has been motivated by the current limited number of off-the-shelf solutions for measuring an AUV’s velocity, imposing restrictions on navigation performances, especially in small-sized vehicles. Two prototypes are presented in this document. The first, named drag speedometer, measures the force applied by the fluid in a semi-sphere to estimate velocity in relation to flow in the surge direction. The second prototype, named differential pressure speedometer, employs Bernoulli’s principle to estimate velocity in relation to flow in both the surge and sway directions through measurements of the differential pressure between points on a spherical shell. The development of both speedometers is shown in detail, describing all the design processes and solutions adopted. An analysis of the measurement chain errors is made for both prototypes. Also, an experimental setup and the developed ground truth method are presented. Towing tests in surge are performed for both speedometers at the same conditions for different velocities. Tests are also performed in sway for the differential pressure speedometer at the same range of velocities. The variance of the measurements of both sensors is characterized according to the ground truth. Further, a Kalman filter is implemented. Finally, the output of the filter is compared with the ground truth, and the error is quantified.