This paper describes the design of a miniature uncrewed underwater vehicle (MiniUUV) and related instrumentation for indoor experimentation. The MiniUUV was developed using 3D printed components and low-cost, off-the-shelf electronics. The vehicle uses a propeller differential propulsion drive and a peristaltic pump with a syringe for buoyancy control. A water tank with an overhead camera system was constructed to allow for convenient indoor data collection in a controlled environment. Several tests were conducted to demonstrate the capabilities of the MiniUUV and data collection system, including buoyancy pump actuation tests and straight line, circular, and zig-zag motion tests on the surface. During each planar motion test an AprilTag was attached to the MiniUUV and an overhead camera system obtained video recordings that were processed offline to estimate vehicle position, surge velocity, sway velocity, yaw angle, and yaw rate.

翻译：本文描述了一种用于室内实验的微型无人水下航行器（MiniUUV）及其相关仪器的设计。MiniUUV采用3D打印组件和低成本现成电子元件开发。该航行器采用螺旋桨差速推进驱动，并配备带注射器的蠕动泵用于浮力控制。搭建了带有顶置摄像头系统的水槽，以便在受控环境中进行便捷的室内数据采集。通过多项实验验证了MiniUUV及数据采集系统的性能，包括浮力泵驱动测试以及水面直线、圆形和锯齿形运动测试。在每个平面运动测试中，MiniUUV上附有AprilTag标记，顶置摄像头系统获取视频记录，并通过离线处理估算航行器的位置、纵荡速度、横荡速度、偏航角和偏航角速度。