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, UUV）在水下环境中运动的各类运动剖面数据。我们所操控的水下机器人可响应多自由度（滚转、偏航、Z轴）下的各类输入信号，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）以构建其数学模型。该机器人存在耦合运动特性，在部分场景下需针对本系统开展多输入多输出（Multiple Input Multiple Output, MIMO）分析。尽管惯性测量单元（Inertial Measurement Unit, IMU）可采集输出数据，但为修正其测量误差，我们借助外部工具获取精度更高的输出信息，并将其与基于力与力矩的控制指令相结合。