Construcción de un vehículo subacuático no tripulado autónomo para posicionamiento especial mediante GPS, usando cable umbilical y una boya para la comunicación.

Abstract

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.