[PPT] - Artificial motion data for navigation sensors of a submarine running PowerPoint Presentation

SLIDE 1

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)

SLIDE 2

Artificial motion data of submarine in wave 2

Introduction Equations of motion Navigation data Simulation Conclusion

SLIDE 3

Artificial motion data of submarine in wave 3

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

SLIDE 4

Artificial motion data of submarine in wave 4

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



SLIDE 5

Artificial motion data of submarine in wave 5

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 b b G G nb nb nb nb HD HS G P W C b b b b b b b G nb 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 b n n nb b b

v C v D    

 

, , cos

N E D m t

v v h v R h R h         

SLIDE 6

Artificial motion data of submarine in wave 6

Hydrodynamic force

 Feldman model (1979, NSRDC)

Propeller and control force

External force

             

 

1 2

2 2 2 2 2 2 2 2 2 2 2 2

2 2

HD u vr wq rp vv ww qq rr HD w q w q vp ww w x D L FW l x HD w q w q rp ww w 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

x D L FW l x

C 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 C C M M M M C C

                

                                 

SLIDE 7

Artificial motion data of submarine in wave 7

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 i i N W i z i i i z i i N W i i i i i i i

u RAO k X Y t w RAO k X Y t q RAO k k X Y t

 

                    

  

                             

  

SLIDE 8

Artificial motion data of submarine in wave 8

Numerical PMM test

Hydrodynamic coefficient

Drift test Rotating arm test

SLIDE 9

Artificial motion data of submarine in wave 9

Hydrodynamic coefficient

Horizontal plane

Static drift Static rudder Turning

SLIDE 10

Artificial motion data of submarine in wave 10

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

SLIDE 11

Artificial motion data of submarine in wave 11

RAO

 Stationary case

Wave effect

4 8 12 16 20

L

0.0 0.2 0.4 0.6 0.8 1.0

X/A