Experimental Design Framework for Free-Running Maneuverability Tests of Amphibious Marine Craft

This paper presents a detailed experimental design framework for free-running tests on an amphibious marine craft type N219A, focusing on sensor integration and steering mechanism evaluation during turning circle maneuvers in a free-running pool. The experimental setup employs a scalar model approach combined with propulsion motor drive calculations to replicate realistic operational conditions. Two cost-effective sensors are integrated to capture comprehensive navigational and dynamic data: a GPS ArduPilot sensor provides the trajectory track of the floatplane, while an ADIS 16364 accelerometer outputs sway and surge velocities as well as roll and yaw accelerations. Calibration and data acquisition methods are tailored to optimize the precision of these measurements. The steering mechanism design emphasizes hydrodynamic performance and control responsiveness, with evaluation relying on trajectory and dynamic data from the sensor suite. Results from the free-running tests demonstrate the efficacy of the proposed experimental design in assessing vehicle maneuverability and the interplay between propulsion and steering systems. Limitations such as the measurement constraints of the sensor suite and susceptibility to environmental interference are discussed, providing insights for further improvements. This work establishes a robust experimental framework tailored for amphibious vehicle maneuverability studies, combining affordability with precision measurement techniques. Insights gained highlight critical factors influencing sensor integration and mechanical control effectiveness. Subsequent investigations will focus on implementing multi-sensor data fusion and optimizing propulsion control algorithms to improve experimental accuracy and adaptability in diverse operational environments.