ARIES navigation system accuracy and track following
Authors
Nguyen, Thanh V.
Subjects
Navigation
Track Following
Track Following
Advisors
Healey, Anthony J.
Date of Issue
2002-03
Date
Publisher
Monterey, California. Naval Postgraduate School
Language
Abstract
One of the greatest challenges associated with the Autonomous Underwater Vehicle (AUV) is reliability, accuracy, and the high precision navigation system for its submerged operations. Data collected for later analysis can be meaningful if, and only if, the precise location of the vehicle is known at the time the information is recorded. A reliable AUV must be able to determine its global position in the absence of external transmitting devices. Dead reckoning is unreliable because of current conditions and random errors in the velocity measurement that can be integrated and propagated in position calculations for long distance submerged travel. The alternative is the optimal integration of all available organic vehicle sensors to determine vehicle position. This requires the Kalman filtering method which merges all available vehicle sensors to estimate position. The AUV ARIES was operated in the Azores from August 10-12, 2001. All information were recorded and transferred into several files for all the mission runs during the exercise. This thesis investigated the accuracy of the Kalman filter navigation system during those runs. The thesis also examines the actual vehicle tracks during the experiment with both the design tracks and the model prediction tracks built using a simulation of the vehicle track following behavior.
Type
Thesis
Description
Series/Report No
Department
Mechanical Engineering
Organization
Identifiers
NPS Report Number
Sponsors
Funding
Format
xiv, 81 p. : col. ill., map ;
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.