(1)RETRACTED: Gimbal orientation study and assessment for the autonomous underwater vehicles
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Sudhir Kumar Chaturvedia, Sourav Basub, Saikat Banerjeecc,∗
a Department of Aerospace Engineering, UPES, Dehradun 248007, Uttarakhand, India
b Department of Electrical Engineering, Jalpaiguri Government Engineering College, Jalpaiguri 735102, West Bengal, India
c Department of UAV and Remote Sensing, Wingbotics, Kolkata-700086, West Bengal, India
Received 17 May 2019; received in revised form 31 August 2019; accepted 5 September 2019
Available online 19 September 2019
Abstract
Autonomous underwater vehicles are at present being used for scientific, commercial and military submerged applications. In this paper,
a system has been proposed which can be used underwater as remotely operated underwater vehicle for submerged survey for different
purposes. These systems require self-sufficient direction and control frameworks so as to perform submerged assignments. Displaying,
framework identification and control of these vehicles are as yet real dynamic zones of innovative work. This theory is worried about
the plan and improvement of an Autonomous Underwater Vehicle (AUV) specifically proposed for passage into global submerged vehicle
rivalries. The theory comprises of two stages; the first includes the plan and development of the vehicle while the subsequent stage is
worried about the demonstrating and framework identification of the vehicle, just as the reproduction of a control system. The structure and
advancement of the vehicle comprised of actualizing a mechanical and electrical framework, just as the reconciliation of subsystems. The
framework identification of the vehicle parameters comprised of utilizing locally available sensors to perform static and dynamic tests. Least
squares estimation was utilized to gauge the parameters from the pre-researched data obtained.
© 2019 Shanghai Jiaotong University. Published by Elsevier B.V.
This is an open access article under the CC BY-NC-ND license.(http://creativecommons.org/licenses/by-nc-nd/4.0/)
Keywords: IMU sensor; Gimbal stabilization; Kalman filter; MATLAB Simulink; Brushless DC motor.