This paper addresses the development of the simulation of the low-level control system for the underwater remotely operated\nvehicle Visor3. The 6-DOF mathematical model of Visor3 is presented using two coordinated systems: Earth-fixed and body-fixed\nframes. The navigation, guidance, and control (NGC) structure is divided into three layers: the high level or the mission planner;\nthe mid-level or the path planner; and the low level formed by the navigation and control systems. The nonlinear model-based\nobserver is developed using the extended Kalman filter (EKF) which uses the linearization of the model to estimate the current\nstate. Thebehavior of the observer is verified through simulations using Simulink. An experiment was conducted with a trajectory\nthat describes changes in the
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