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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
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
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
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 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
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
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
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 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
Artificial motion data of submarine in wave 8
Numerical PMM test
Hydrodynamic coefficient
Drift test Rotating arm test
Artificial motion data of submarine in wave 9
Hydrodynamic coefficient
Horizontal plane
Static drift Static rudder Turning
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
Artificial motion data of submarine in wave 11
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
Artificial motion data of submarine in wave 12
RAO (Beam sea)
Speed change
Wave effect
Artificial motion data of submarine in wave 13
RAO (Bow quartering sea)
Depth change modeling using Exp(-kz)
Wave effect
Artificial motion data of submarine in wave 14
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
Artificial motion data of submarine in wave 15
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
Artificial motion data of submarine in wave 16
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
Artificial motion data of submarine in wave 17
Sample submarine
Thune, S., “Simulation of Submarine Manoeuvring”, Master
thesis, Royal Institute of Technology, Sweden, 2015
Simulation
Artificial motion data of submarine in wave 18
GUI to control a submarine
Manual and automatic mode
Automatic mode: Command and way point
Simulation
Command mode Way point mode
Artificial motion data of submarine in wave 19
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
Artificial motion data of submarine in wave 20
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