An application of Extended Kalman filtering to a model-based, short-range navigator for an AUV.

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dc.contributor.advisorCristi, Roberto
dc.contributor.authorMiller, Christopher A.
dc.contributor.corporateNaval Postgraduate School
dc.contributor.departmentElectrical Engineering
dc.contributor.schoolNaval Postgraduate School
dc.contributor.secondreaderTitus, Harold A.
dc.date.accessioned2013-01-23T21:59:00Z
dc.date.available2013-01-23T21:59:00Z
dc.date.issued1991-12
dc.description.abstractAutonomous Underwater Vehicles (AUV) are being considered by the Navy for performing a variety of missions. During the research and development stage of the AUV project at the Naval Postgraduate School, a navigator is needed to provide vehicle position estimates for short-range missions performed in a test pool environment. This navigator should operate with inexpensive sensors and not require excessive digital processor time. This thesis presents the results of the design of a model-based navigator. The navigator uses nonlinear vehicle models and Extended Kalman filter theory. Simulation studies for both a 12,000 pound vehicle and the 435 pound testbed vehicle, designed and built at the School (NPS AUV II), are presented. Results of using data recorded from the gyroscopes and depth cell installed in the NPS AUV II vehicle in lieu of simulated data are also discussed. These results show that the navigator meets the goals of low cost and low processor burden for short-range missions.en_US
dc.description.distributionstatementApproved for public release; distribution is unlimited.
dc.description.serviceLieutenant, United States Navyen_US
dc.description.urihttp://archive.org/details/anpplicationofex1094526383
dc.format.extent150 p.;28 cm.en_US
dc.identifier.urihttps://hdl.handle.net/10945/26383
dc.language.isoen_US
dc.publisherMonterey, California. Naval Postgraduate Schoolen_US
dc.subject.authorAUVen_US
dc.subject.authorExtended Kalman Filteren_US
dc.subject.authorNonlinear Systemsen_US
dc.subject.authorLinearizationen_US
dc.subject.authorNavigationen_US
dc.titleAn application of Extended Kalman filtering to a model-based, short-range navigator for an AUV.en_US
dc.typeThesisen_US
dspace.entity.typePublication
etd.thesisdegree.disciplineElectrical Engineeringen_US
etd.thesisdegree.grantorNaval Postgraduate Schoolen_US
etd.thesisdegree.levelMastersen_US
etd.thesisdegree.nameM.S. in Electrical Engineeringen_US
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