State estimation of QAUV Based on dynamic model

Abstract

Quadrotor Autonomous Underwater Vehicle (QAUV) is a new type of intelligent robot with simple structure and high motion efficiency. Like other underwater robots, its state acquisition has always been a thorny problem. In order to realize low-cost control of QAUV, a state estimation method based on 6 Degrees-Of-Freedom (DOF) dynamic model is proposed in this paper. By analyzing the unique coupling motion characteristics of the QAIJV, the dynamic model is simplified, and the relationship between inclination and velocity is obtained when moving at a uniform speed. According to the simulation and theoretical derivation, the estimation method is extended from uniform motion to generalized forward and translational motion. The simulation results show that the state values obtained by this method have high accuracy, low cost and convenient use.