Dynamic simulaton of the automated docking of a UVV to a slowly moving submarine in littoral conditons – Part 1: Sensor and control system modelling; Part 2: Modelling the vehicles and the dock; Part 3: Software Manual

PDF

Authors
  1. Roy, A.
  2. Steinke, D.
  3. Nicoll, R.
Corporate Authors
Defence Research and Development Canada, Atlantic Research Centre, Halifax NS (CAN);Dynamic Systems Analysis Limited, Victoria BC (CAN)
Abstract
Docking an unmanned underwater vehicle (UUV) with a submerged submarine in littoral waters in high sea states requires more dexterity than either the submarine or streamlined UUV possess. The proposed solution uses an automated active dock to correct for transverse relative motion between the vehicles. Acoustic, electromagnetic, and optical sensors provide position sensing redundancy in unpredictable conditions. The concept is being evaluated by building and testing individual components to characterize their performance, errors, and limitations, and then simulating the system to establish its viability at low cost. This report is one of three documenting the simulation. Part 1 discusses how system sensors and controls are modelled, Part 2 discusses vehicle and dock dynamics modelling, and Part 3 is a user manual.
Keywords
unmanned underwater vehicle docking;submarines;computer simulation
Report Number
DRDC-RDDC-2017-C247 — Contract Report
Date of publication
01 Nov 2017
Number of Pages
85
DSTKIM No
CA045730
CANDIS No
806178
Format(s):
Electronic Document(PDF)

Permanent link

Document 1 of 1

Date modified: