Correction of inertial measurements using GPS updates for underwater navigation
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Authors
Nagengast, Steve
Subjects
Navigation
Global positioning system
Kalman filter
Underwater vehicles
Inertial navigation
Global positioning system
Kalman filter
Underwater vehicles
Inertial navigation
Advisors
Cristi, Roberto
Date of Issue
1992-09
Date
September 1992
Publisher
Monterey, California. Naval Postgraduate School
Language
en_US
Abstract
An Autonomous Underwater Vehicle (AUV) can combine a Global Positioning System (GPS) receiver with an Inertial Navigation System (INS) to navigate with a specified accuracy level. The AUV would be required to surface periodically to obtain a GPS fix. A computer simulation has been developed using an AUV model and an INS error model to generate noisy measurements. A Kalman filter is used to estimate the simulated INS errors. Several runs were executes to compare combinations of equipment with different levels of accuracy.
Type
Thesis
Description
Series/Report No
Department
Department of Electrical and Computer Engineering
Organization
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
Funding
Format
92 p.
Citation
Distribution Statement
Approved for public release; distribution is unlimited.
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.