Design, simulation, and experimental verification of a computer model and enhanced position estimator for the NPS AUV II

dc.contributor.advisorPapoulias, Fotis A.
dc.contributor.authorWarner, David C.
dc.dateDecember 1991
dc.date.accessioned2014-01-09T22:51:40Z
dc.date.available2014-01-09T22:51:40Z
dc.date.issued1991-12
dc.description.abstractA full six-degree-of-freedom computer model of the Naval Postgraduate School Autonomous Underwater Vehicle (NPS AUV II) is developed. Hydrodynamic Coefficients are determined by geometric similarity with an existing swimmer delivery vehicle and analysis of initial open loop AUV II trials. Comparisons between simulated and experimental results demonstrate the validity of the model and the techniques used. A reduced order observer of lateral velocity was produced to provide an input for an enhanced position estimator. Results are presented which show that the position estimator can be calibrated using AUV II run data to provide a real-time accurate estimate of position.en_US
dc.description.distributionstatementApproved for public release; distribution is unlimited.
dc.description.urihttp://archive.org/details/designsimulation1094538238
dc.format.extent121 p. ; 28 cm.en_US
dc.identifier.urihttps://hdl.handle.net/10945/38238
dc.publisherMonterey, California. Naval Postgraduate Schoolen_US
dc.titleDesign, simulation, and experimental verification of a computer model and enhanced position estimator for the NPS AUV IIen_US
dc.typeThesisen_US
dspace.entity.typePublication
etd.thesisdegree.disciplineMechanical Engineeringen_US
etd.thesisdegree.grantorNaval Postgraduate Schoolen_US
etd.thesisdegree.levelMastersen_US
etd.thesisdegree.nameM.S. in Mechanical Engineeringen_US
etd.thesisdegree.nameMechanical Engineeren_US
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