Simulation-based validation of navigation filter software for a shallow water AUV navigation system (SANS)
Loading...
Authors
Steven, Ruediger.
Subjects
Advisors
McGhee, Robert B.
Date of Issue
1996-03
Date
March, 1996
Publisher
Monterey, California. Naval Postgraduate School
Language
en_US
Abstract
Navigation filter software is currently being developed for an inertial navigation system without rotating gyros. This system shall replace the navigation system that is currently used in the Phoenix Autonomous Underwater Vehicle of the Naval Postgraduate School. The filter combines acceleration sensors, angular rate sensors, a water speed sensor, a magnetic compass and a GPS system. The harmonization of the sensors is performed by gain matrices. The filter code must be tested for correctness and evaluated, and optimal values for the gain matrices must be found. Both factors directly influence the accuracy of the computed positions, and thus the quality of AUV navigation. in this thesis, the Kalman filter code is tested by experimentation with a simulation of a submarine. Two versions of the code are available, both written in LISP and C++. Test runs are performed in different simulated sea-states (water current), with and without noise added to the sensors, and with different values for the gain matrices. Based on the experiments, the Kalman filter code seems to be correct and stable. Noise is the most important determinant of the filter performance. The results can be optimized by careful fine tuning of the gain matrices.
Type
Thesis
Description
Series/Report No
Department
Organization
Identifiers
NPS Report Number
Sponsors
Funding
Format
132 p.
Citation
Distribution Statement
Approved for public release; distribution is unlimited.