artificial motion data for navigation sensors of a ......wave heading: 0~180 degrees, 45 degrees...

Artificial motion data of submarine in wave

Artificial motion data for navigation sensors of a submarine

running in periscope depth below wave surface

2018.06.28.

Hyeon Kyu Yoon, Young-Ho Park, Juwon Seo (CWNU)

Youngbum Park, Chanju Park (ADD)

Artificial motion data of submarine in wave 2

Introduction

Equations of motion

Navigation data

Simulation

Conclusion


Background

Submarine navigation

GPS cannot be used.

IMU: Dead reckoning

Secondary navigational sensor: DVL, EM-Log, Depth gauge, etc.

Development of navigation algorithm

Artificial data of navigation is necessary.

Especially the data during alignment near wave surface

Simulation program

6 DOF submarine motion for maneuvering

Additional seakeeping motion during running or hovering near

wave surface

Introduction


Coordinate systems

Earth-centered Earth-fixed: Reference and position

NED: Position and Euler angle

Body-fixed: Describe 6 DOF equations of motion

State variables Velocity and Displacement

Linear and angular velocities

Latitude, longitude, height, and Euler angles

Equations of motion

O

X,u

Z,w

M,q

Reference

U

s

r

Y,v

N,r

X,u

Reference

U

O

b


6 DOF equations of motion

External force

HD, HS, G: Hydrodynamic, hydrostatic, and gravity

P, : Propeller and control plane

W, C: Wave and current

Kinematic relations

Equations of motion

b b b b b b bb

G Gnb nb nb nb HD HS G P W C

b b b b b b b

Gnb nb nb nb HD HS G P W C

m v v r r f f f f f f f

I I mr v v m m m m m m m

, n b bn n

nbb bv C v D

, ,

cos

N E

D

m t

v vh v

R h R h


Hydrodynamic force

Feldman model (1979, NSRDC)

Propeller and control force

External force

1

2

2 2 2 2

2 2

0

2 2

2 2 2 2

0

2 2

HD u vr wq rp vv ww qq rr

HD w q w q vp www

x

D L FWl x

HD w q w q rp www w w

X X u X u X vr X wq X rp X v X w X q X r

Z Z w Z q Z Z w Z q Z vp Z w Z w v w

C b x w x w x v x dx LC v x v t x dx

M M w M q M M w M q M rp M w M w v w M w v w

1

2

2 2

2 2

x

D L FWl xC xb x w x w x v x dx LC xv x v t x dx

2 4

2 5

P P T P

P P Q P

X n D K J

K n D K J

2 2 2

1

1

r r s s b b

s b s

s b s

r s b

s b s

s b s

X X X X

Z Z Z Z CC

M M M M CC


Hydrostatic and gravitational force

Wave effect

Superpose wave induced acceleration to maneuvering one

Smooth change of motion value Acceleration considered

Response amplitude operator and ITTC wave spectrum

External force

sin

cos cos

sin cos cos

HS G

HS G

HS G G B G B

X X W B

Z Z W B

M M z W z B x W x B

2

1

2

1

2

1

cos cos sin

cos cos sin

cos cos sin

i

i

i

N

W i x i i i x ii

N

W i z i i i z ii

N

W i i i i i ii

u RAO k X Y t

w RAO k X Y t

q RAO k k X Y t


Numerical PMM test

Hydrodynamic coefficient

Drift test Rotating arm test


Hydrodynamic coefficient

Horizontal plane

Static drift Static rudder Turning


RAO (Response Amplitude Operator)

ANSYS AQWA (3D panel method based on potential theory)

Pre-calculation and interpolation for speed and heading

Speed: 2~20 knots, 2 knots interval

Wave heading: 0~180 degrees, 45 degrees interval

Wave frequency: 0.2~3.0 rad/s Long-crested irregular wave

Wave

Long-crested irregular wave

Superpose various regular waves

ITTC wave spectrum Wave height

Random phase

Wave effect


RAO

Stationary case

Wave effect

0 4 8 12 16 20

L

0.0

0.2

0.4

0.6

0.8

1.0

X/A

Head sea

Bow quatering sea

Beam sea

Stern quatering sea

Following sea

0 4 8 12 16 20

L

0.0

0.2

0.4

0.6

0.8

1.0

Y/A

Head sea

Bow quatering sea

Beam sea

Stern quatering sea

Following sea

0 4 8 12 16 20

L

0.0

0.2

0.4

0.6

0.8

1.0

Z/A

Head sea

Bow quatering sea

Beam sea

Stern quatering sea

Following sea

0 4 8 12 16 20

L

0.0

2.0

4.0

6.0

8.0

/k

A

Head sea

Bow quatering sea

Beam sea

Stern quatering sea

Following sea

0 4 8 12 16 20

L

0.0

0.4

0.8

1.2

/k

A

Head sea

Bow quatering sea

Beam sea

Stern quatering sea

Following sea

0 4 8 12 16 20

L

0.0

0.2

0.4

0.6

/k

A

Head sea

Bow quatering sea

Beam sea

Stern quatering sea

Following sea

Surge Sway Heave

Roll Pitch Yaw


RAO (Beam sea)

Speed change

Wave effect


RAO (Bow quartering sea)

Depth change modeling using Exp(-kz)

Wave effect


Data stored in navigation sensors

Measured or calculated values

Earth’s rotation and curved surface effect included

Navigational data

Sensor Item Unit Reference

INS

Position(, , h) rad, m Earth-fixed

Velocity( ) m/s Earth-fixed

Attitude(, , ) rad Earth and Body-fixed

Angular rate( ) rad/s Body-fixed

Acceleration( ) m/s2 Body-fixed

DVL Velocity( ) m/s Body-fixed

DM-Log Forward speed(V) m/s Body-fixed

Depth gauge Depth(-h) m Earth-fixed

, ,N E D

v v v

, ,x y z

a a a

, ,r r r

u v w

, ,x y z


IMU (Gyro and accelerometer)

Earth’s rotation and curved surface effect (Transport rate)

Sensor position

Noise effect

Navigational data

, where,

2

Tb b b n n n n

ib x y z nb n in in ie en

Tb b n n n n n

x y z n ie en

C

a a a a C v v g

cos 0 sin

tan

Tn

ie ER ER

T

n NE E

en

t m t

vv v

R h R h R h

1SF bias noise

z x

b b b b b b b b b

s ss nb nb nb nbv v v r r


Computer program

Visual Studio 2010 MFC based dialog program

Main class: Submarine

Subclass: Hull, Propeller, ControlPlane, Operator, Sensor, Wave

Simulation

ReadDataReadData ReadData

InitializeInitialize Initialize

FinDynamics

InertiaMatrix

ControlPlane.inp

PropDynamics

FinalizeFinalize

Hull classPropeller class

SubSimDlg (VS 2010, MFC based)

Submarine class Operator class Sensor classControlPlane class

PrintData

Force Force

Propeller.inp Hull.inp

Force

ForceInertia

ForceHDynamic

ForceHStatic

ForceGravity

Finalize

ReadData

Operator.inp

Initialize

CommandRps

AutoPilotSpeed

CommandControl

AutoPilotDepth

AutoPilotPitch

AutoPilotHeading

Finalize

ReadData

Sensor.inp

Initialize

UpdateSensorData

INSData

DVLData

EMLogData

DepthGaugeData

Finalize

ReadData

Initialize

Finalize

TimeUpdate

Kinematics

Submarine.inp

ReadData

Wave class

Initialize

Spectrum

WaveRAO.inp

AccDueToWave

Finalize


Sample submarine

Thune, S., “Simulation of Submarine Manoeuvring”, Master

thesis, Royal Institute of Technology, Sweden, 2015

Simulation


GUI to control a submarine

Manual and automatic mode

Automatic mode: Command and way point

Simulation

Command mode Way point mode


IMU data

Angular velocity and attitude

Simulation

0 200 400 600

Time [s]

-1.5

-1.0

-0.5

0.0

0.5

1.0

1.5

An

gu

lar

ve

locity [

de

g/s

]

Roll rate

Pitch rate

Yaw rate

0 200 400 600

Time [s]

-1.5

-1.0

-0.5

0.0

0.5

1.0

1.5

An

gu

lar

ve

locity [

de

g/s

]

Roll rate

Pitch rate

Yaw rate

0 200 400 600

Time [s]

-4.0

-2.0

0.0

2.0

4.0

Att

itu

de [

deg

]

Roll

Pitch

Yaw

0 200 400 600

Time [s]

-4.0

-2.0

0.0

2.0

4.0

Att

itu

de [

deg

]

Roll

Pitch

Yaw

Sea state 3

Sea state 4


Submarine 6 DOF equations of motion

Maneuvering motion based on Feldman model

Wave effect added by RAO calculated by ANSYS AQWA

Hydrodynamic coefficient and RAO

Numerical PMM test and RAO for various regular wave

Navigational data

IMU data including Earth’s rotation and transport rate

Simulation

MFC based GUI program to manage submarine motion

Binary output data file for confirming navigational algorithm

Conclusion

Hyeon Kyu Yoon Associate Professor Dept. of Naval Architecture & Marine Engineering Changwon National University, KOREA [email protected] O) +82-55-213-3683 F ) +82-55-213-3689 M) +82-10-2376-7781

mailto:[email protected]

artificial motion data for navigation sensors of a ......wave heading: 0~180 degrees, 45 degrees...

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