Registered To/From Blocks

Description Vehicle states Applied forces

Actuators Commands Environment Sensors Output

Description :

Goto/From blocks with global visibility are used for multiple block communication between the main subsystems of the AUVSimulator model.

Vehicle states :

§ vehiclePosition : Position and attitude of the vehicle

§ Size and description of components : 6 components

· X(North), Y(East), Z(Down), psi (heading), theta (pitch), phi (roll)

§ Source: Dynamics

§ Destinations:

· Dynamics

· Dynamics:GroundVelocities

· Sensors:IMUCompass

· Sensors:PositionningDevice

· Inspector:ScopeVehicleState

· bodyFixedVelocities : Vehicle velocities relative to fluid and angular rates.

§ Size and description of components : 6 components

· linear velocities : u (along longitudinal axis), v(transversal axis), z(down axis)

· angular velocities : p (along longitudinal axis), q(transversal axis), r(down axis)

§ Source: Dynamics

§ Destinations:

· Dynamics

· Dynamics:GroundVelocites

· Sensors:IMUCompass

· Sensors:AcousticDopplerVelocimeter

· Inspector:ScopeVehicleState

· groundVelocities : Vehicle velocities relative to ground in North,East Down Frame.

§ Size and description of components : 3 components

· X(North), Y(East), Z(Down) velocities

§ Source: Dynamics:GroundVelocities

§ Destinations:

· Dynamics

· Dynamics:GroundVelocites

· Sensors:IMUCompass

· Sensors:AcousticDopplerLog

· Inspector:ScopeVehicleState

Applied forces :

Forces are generalised forces with 6 components and projection in the Vehicle body frame

Forces : Fx (along longitudinal axis), Fy(transversal axis), Fz(down axis)

Moments : Mx (along longitudinal axis), My(transversal axis), Mz(down axis)

· thrusterForces : efforts applied by propellers and thrusters.

§§ Source: Dynamics

§ Destinations:

· Inspector:DisplayAppliedForces

· Inspector:ScopeAppliedForces

· Inspector:DataStorage

· finsForces : efforts applied by fins.

§ Size and description of components : 6 components

§ Source: Dynamics

§ Destinations:

· Inspector:DisplayAppliedForces

· Inspector:ScopeAppliedForces

· Inspector:DataStorage

· buoyancyForces : Buoyancy forces.

§ Size and description of components : 6 components

§ Source: Dynamics

§ Destinations:

· Inspector:DisplayAppliedForces

· Inspector:ScopeAppliedForces

· Inspector:DataStorage

· wavesForces : waves forces.

§ Size and description of components : 6 components

§ Source: Environment:Waves

§ Destinations:

· Dynamics

· Inspector:DisplayAppliedForces

· Inspector:ScopeAppliedForces

· Inspector:DataStorage

Actuators Commands:

· finsCommand : Commanded positions for the fins

§ Size and description of components : 4 components,

· Bow rudders

· Stern rudders

· Bow planes

· Stern planes

§ Source: Control:Fins

§ Destinations:

· Dynamics

· Inspector:DisplayActuatorsCommand

· Inspector:ScopeActuatorsCommand

· Inspector:DataStorage

· propellersThrustersCommand : Commands for thrusters and propellers

§ Size and description of components : 6 components,

· Commanded RPS for starboard propeller

· Commanded RPS for starboard propeller

· Bow vertical thruster voltage

· Stern vertical thruster voltage

· Bow lateral thruster voltage

· Stern lateral thruster voltage

§ Source: Control:PropellersThrusters

§ Destinations:

· Dynamics

· Inspector:DisplayActuatorsCommand

· Inspector:ScopeActuatorsCommand

· Inspector:DataStorage

Environment :

· waveElevation : wave elevation at Vehicule location

· Size and description of components : 1 component

§ Source: Environment:Waves

§ Destinations:

· Dynamics

· Inspector:DisplayEnvironment

· Inspector:ScopeEnvironment

· Inspector:DataStorage

· fluidVelocitiesAccelerations : Fluid velocities (wave + current) and accelerations relative to ground at vehicle position in North, East, Down Frame

· Size and description of components : 6 component velocities along X axis, Y axis, Z axis, accelerations along X axis, Y axis, Z axis

§ Source: Environment

§ Destinations:

· Dynamics

· Inspector:DisplayEnvironment

· Inspector:ScopeEnvironment

· Inspector:DataStorage

Sensors Output :

· acousticDopplerVelocimeterOut : Fluid relative velocity measured by the ADV

· Size and description of components : 3 component x, y, z linear relative velocity in vehicle body frame

§ Source: Sensors:AcousticDopplerVelocimeter

§ Destinations:

· Inspector:DisplaySensorsOutput

· Inspector:ScopeSensorsOutput

· Inspector:DataStorage

· IMURatesOutput : Angular rates as measured by the Systron Donner IMU

· Size and description of components : 3 component p, q, r angular rates in body frame

§ Source: Sensors:IMUCompass

§ Destinations:

· Inspector:DisplaySensorsOutput

· Inspector:ScopeSensorsOutput

· Inspector:DataStorage

· IMUAttitudeOutput : Vehicle attitude as measured by onboard compass and IMU

· Size and description of components : 3 Euler angles heading, pitch and roll

§ Source: Sensors:IMUCompass

§ Destinations:

· Inspector:DisplaySensorsOutput

· Inspector:ScopeSensorsOutput

· Inspector:DataStorage

· dopplerLogOutput : Velocity relative to ground measured by the RDI navigator

· Size and description of components : 3 components X, Y, Z linear relative velocity in North, East, Down frame

§ Source: Sensors:DopplerLog

§ Destinations:

· Inspector:DisplaySensorsOutput

· Inspector:ScopeSensorsOutput

· Inspector:DataStorage

· PositioningdeviceOutput : measured position of the vehicle in North, East, Down frame

· Size and description of components : 3 component X, Y, Z position of the vehicle in North, East, Down frame

§ Source: Sensors:PositionningDevice

§ Destinations:

· Inspector:DisplaySensorsOutput

· Inspector:ScopeSensorsOutput

· Inspector:DataStorage

o See also : How to modify and add new functions to AUVSimulator

o URL : gotoFromVariablesSpecification.htm

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