Coordinate system and motion parameters definition

In order to describe the AUV motion and set up a 6-DOF nonlinear mathematical model, a special reference frames have been established (Shi, 1995). There are two reference frames: fixed reference frame E-┬žnZ (or inertial coordinate system) and motion reference frame o-xyz (or body-fixed coordinate system), which are shown in Fig.1.

Fig. 1. Body-fixed and inertial coordinate system

Considering the shape characteristic of most AUVs, the mathematic model is based on the hypothesis that the AUV is symmetric about its xoz plane.

Defining generalized position vector R, generalized velocity vector V and generalized force vector t , the motion vector include

2. Linear and angular velocities (in o-xyz)

3. Force and moment parameters (in o-xyz)

Learn Photoshop Now

Learn Photoshop Now

This first volume will guide you through the basics of Photoshop. Well start at the beginning and slowly be working our way through to the more advanced stuff but dont worry its all aimed at the total newbie.

Get My Free Ebook

Post a comment