Acoustic positioning of the NPS Autonomous Underwater Vehicle (AUV II) during hover conditions , Kevin A. Torsiello.
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Authors
Torsiello, Kevin A.
Subjects
NA
Advisors
Healey, Anthony J.
Date of Issue
1994-03
Date
March, 1994
Publisher
Monterey, California. Naval Postgraduate School
Language
en_US
Abstract
The ability to take position, in a dynamic environment, relative to a local stationary object, is vital to many planned missions for the Naval Postgraduate School's Autonomous Underwater Vehicle (AUV II) project, such as bottom surveying and mine hunting. The AUV II can achieve this ability through the use of its sensors along with stem propulsion motors and tunnel thrusters. The sensors employed by the AUV II include a free directional gyro and independent self-sonar which provide acoustic positioning data without the aid of a transponder net. Described in this thesis are the details of the internal subsystems of the AUV II, and an examination of its positioning ability through the analysis of maneuvering experiments. Commanded motions of yaw, lateral and longitudinal positioning during hover conditions are studied.
Type
Thesis
Description
Series/Report No
Department
Mechanical Engineering
Organization
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
Funder
NA
Format
xii, 118 p. (2 folded illus.);28 cm.
Citation
Distribution Statement
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.