Terrain aided navigation for REMUS autonomous underwater vehicle
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Authors
Juriga, Jacob T.
Subjects
Terrain aided navigation
terrain-relative navigation
terrain-based navigation
autonomous underwater vehicle
particle filter
Kalman filter
terrain-relative navigation
terrain-based navigation
autonomous underwater vehicle
particle filter
Kalman filter
Advisors
Horner, Doug
Date of Issue
2014-06
Date
Jun-14
Publisher
Monterey, California: Naval Postgraduate School
Language
Abstract
This research investigates the ability to create an undersea bathymetry map and navigate relative to the map. This is known as terrain aided navigation (TAN). In our particular case, the goal was for an autonomous underwater vehicle (AUV) to reduce positional uncertainty through the use of downward-looking swath sonar and employing TAN techniques. This is considered important for undersea operations where positioning systems such as GPS are either not available or difficult to put in place. There are several challenges associated with TAN that are presented: The image processing necessary to extract altitude data from the sonar image, the initial building of the bathymetry map, incorporating a system and measurement model that takes into consideration AUV motion and sensor uncertainty and near-optimal, real-time estimation algorithms. The thesis presents a methodology coupled with analysis on datasets collected from joint Naval Postgraduate School/National Aeronautical Space Administration experimentation conducted at the Aquarius undersea habitat near Key Largo, Florida. .
Type
Thesis
Description
Series/Report No
Department
Mechanical Engineering
Organization
Identifiers
NPS Report Number
Sponsors
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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.