Dataset of a collection of motion profiles of an unmanned underwater vehicle moving in an underwater environment.

The dataset includes a collection of motion profiles of an Unmanned Underwater vehicle moving inan underwater environment.We operate an underwater robot that responds to diverse inputs in various degrees of freedom (roll, yaw, z-axis), and its actions are captured through video recordings. The movement of our underwater robot forms a dynamic system, and by defining appropriate inputs and outputs, we can conduct System Identification to construct a mathematical model. The robot exhibits coupled motion, necessitating the analysis of the MIMO (multiple input multiple output) version of our system in certain scenarios.While IMU sensors record output data, we address inaccuracies by utilizing external tools to obtain more precise output information and couple that with the control comments on terms of forces and torques.

本数据集收录了无人水下航行器（Unmanned Underwater Vehicle）在水下环境中运动的各类运动剖面数据。本研究所操控的水下机器人可响应不同自由度下的多样化输入（横滚、偏航、Z轴方向），其运动行为通过视频录制完成采集。该水下机器人的运动构成一个动态系统，通过定义恰当的输入与输出变量，我们可开展系统辨识（System Identification）工作以构建其数学模型。该机器人存在耦合运动特性，因此在部分场景下需对系统的多输入多输出（Multiple Input Multiple Output, MIMO）形式展开分析。惯性测量单元（IMU）传感器采集的输出数据存在误差，我们借助外部工具获取更为精准的输出信息，并将其与基于力与力矩维度的控制注释进行关联耦合。