U problem in "otter.m" and "SIMotter.m"

[JasonWang2333]

I’d like to point out a question in "otter.m"and "SIMotter.m" 'U = sqrt(nu(1)^2 + nu(2)^2 + nu(3)^2); % speed' if this is used for LOS guidance law or etc., then the U means the total speed of horizontal motion ,so I think this should be replaced by: 'U = sqrt(nu(1)^2 + nu(2)^2 ); % speed' cause in the LOS, the U defines as :

[cybergalactic]

The 3-D speed for an USV will be very close to the horizontal 2-D speed so you might not see a difference. Anyway, if you use a 2-D LOS algorithm (xy plane), I agree that the 2-D speed is more correct to use. Many LOS guidance laws do not use the speed at all but if you need the 2-D speed you can modify the function to return the 2-D value as an argument.

• Thor

On 22 Mar 2024, at 09:46, JasonWang2333 @.***> wrote:

I’d like to point out a question in "otter.m"and "SIMotter.m" 'U = sqrt(nu(1)^2 + nu(2)^2 + nu(3)^2); % speed' if this is used for LOS guidance law or etc., then the U means the total speed of horizontal motion ,so I think this should be replaced by: 'U = sqrt(nu(1)^2 + nu(2)^2 ); % speed' cause in the LOS, the U defines as : image.png (view on web)https://github.com/cybergalactic/MSS/assets/102033219/46b8dffb-618b-4119-905e-716367f85e6f

— Reply to this email directly, view it on GitHubhttps://github.com/cybergalactic/MSS/issues/55, or unsubscribehttps://github.com/notifications/unsubscribe-auth/AKOYSCLZFAXSJCAUWWWYYGTYZPVW3AVCNFSM6AAAAABFC5JLNWVHI2DSMVQWIX3LMV43ASLTON2WKOZSGIYDCOJZGE3TCNI. You are receiving this because you are subscribed to this thread.Message ID: @.***>

[JasonWang2333]

Thanks.