Publication:
Position estimation from range only measurements

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Authors
Alleyne, Jason C.
Subjects
Autonomous underwater vehicles
Unmanned underwater vehicles
Robotics
Navigation
Advisors
Healey, Anthony J.
Date of Issue
2000-09-01
Date
September 2000
Publisher
Monterey, California. Naval Postgraduate School
Language
en_US
Abstract
In order for a team of several Automated Underwater Vehicles (AUVs), such as the ARIES, to operate cooperatively, operators require a cost effective position estimation method. Range only measurement (ROM) position estimation provides this and a means for the AUVs to identify each other's position. Position estimation usually requires at least two range measurements from known points to solve for a vessel's position. However, under certain conditions, one range only measurement can provide a simpler solution. This thesis proves ROM as a viable means of target tracking and position estimation. Determining the accuracy and observability of ROM serve as the primary focus. The ROM model setup and execution are discussed with specific attention given to the details of the Extended Kalman Filter (EKF) and calculations required to determine the system's observability.
Type
Thesis
Description
Series/Report No
Department
Mechanical Engineering
Other Units
Naval Postgraduate School
Identifiers
NPS Report Number
Sponsors
Funder
Format
xii, 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.
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