GUIDANCE AND CONTROL OF OCEAN VEHICLES

Modeling of marine vehicles

Involves the study of statics and dynamics.
Statics is concerned with the equilibrium of bodies at rest
or moving with constant velocity.
Dynamics is concerned with bodies having accelerated
motion.

Table:Notation used for marine vehicles

Kinematics
Coordinate Frames
Define two coordinate frames as indicated.

Figure:Body fixed and earth fixed frames

 Xo - longitudinal axis,Yo - transverse axis,Zo - normal axis

Position and orientation of the vehicle is described relative
to the inertial reference.
Linear and angular velocities of the vehicle is expressed in
the body-fixed coordinate system.

Neta denotes the position and orientation vector with

coordinates in the earth fixed frame
v denotes the linear and angular velocity vector with
coordinates in the body-fixed frame
Tau is used to describe the forces and moments acting
on the vehicle in the body-fixed frame

 Orientation is usually represented by means of Euler

angles or quaternions.
Euler Angles
vehicle's flight path relative to the earth-fixed coordinate
system is given by a velocity transformation