Tesis
Construcción de un vehículo subacuático no tripulado autónomo para posicionamiento especial mediante GPS, usando cable umbilical y una boya para la comunicación.
Fecha
2019-06Registro en:
Bejarano Cedeño, Stalin Francisco; Vera Cedeño, José Miguel. (2019). Construcción de un vehículo subacuático no tripulado autónomo para posicionamiento especial mediante GPS, usando cable umbilical y una boya para la comunicación. Escuela Superior Politécnica de Chimborazo. Riobamba.
Autor
Bejarano Cedeño, Stalin Francisco
Vera Cedeño, José Miguel
Resumen
The objective of this work was the design and construction of an unmanned underwater vehicle
to control its spatial positioning in an automatic way. At the design stage, an analysis was
established to identify the physical elements that make up the system. The system holds the
underwater vehicle connected by an umbilical cable to a buoy on the surface with the function
of transmitting all the information obtained by the vehicle to the station. The system in terms of
software, has three important parts for the operation of the same, being these: Companion,
Ardusub and QGraoundControl. The Companion software is responsible for transmitting data
between the autopilot which contains Ardusub and the station that is set with the
QGroundControl software through Ethernet communications. In terms of hardware, there are: a
control, power and image acquisition stages. The control stage consists of a Raspberry PI model
B, a Wireless nano router Tp-Link, a Pixhawk Autopilot and the speed controllers of the
thrusters; the power stage has only 4 propellers and the imaging stage consists of a camera.
Once the system was implemented, the most important thing to check was the impermeability of
the submarine and the verification of the complete operation. By means of the
QGraouondControl a trajectory was carried out with the vehicle; to verify the operation, the
positioning coordinates (GPS) were verified with a cell phone, and compared with those thrown
by the submarine. It is concluded that the system has a little margin of error, this being of
maximum 11.07cm and minimum of 1cm. It is recommended to take into account the correct
distribution of the weight to avoid the instability while advance.