The design of a navigation, guidance, and control system for an unmanned surface vehicle for environmental monitoring

摘要

Maintaining the ecosystem is one of the main concerns in this modern age. With the fear of ever-increasing global warming, the UK is one of the key players to participate actively in taking measures to slow down at least its phenomenal rate. As an ingredient to this process, the Springer vehicle has been designed and is being developed for environmental monitoring and pollutant tracking. This paper highlights the Springer hardware and software architecture including various navigational sensors, a speed controller, and an environmental monitoring unit. In addition, details regarding the modelling of the vessel are outlined which are based mainly on recent trials data. The formulation of a fault tolerant multi-sensor data fusion technique is also presented. Moreover, control strategy based on a linear quadratic Gaussian controller is developed and simulated on the Springer model.