Design and evaluation of an integrated GPS/INS system for shallow-water AUV Navigation
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Authors
Bachmann, Eric R.
Gay, David L.
Subjects
Advisors
McGhee, Robert B.
Brutzman, D.
Date of Issue
1995-09
Date
September 1995
Publisher
Monterey, California. Naval Postgraduate School
Language
en_US
Abstract
The major problem addressed by this research is the large and/or expensive equipment required by a conventional navigation system to accurately determine the position of an Autonomous Underwater Vehicle (AUV) during all phases of an underwater search or mapping mission. The approach taken was to prototype an integrated navigation system which combines Global Positioning System (OPS) and Inertial Measurement Unit (IMU), waterspeed and heading information using Kalman filtering techniques. Actual implementation was preceded by a computer simulation to test where the unit would fit into a larger hardware and software hierarchy of an AUV. The system was then evaluated in experiments which began with land based cart tests and progressed to open water trials where the unit was placed in a towed body behind a boat and alternately submerged and surfaced to provide periodic OPS updates to the Inertial Navigation System (INS). Test results and qualitative error estimates indicate that submerged navigation accuracy comparable to that of differential OPS may be attainable for periods of 30 seconds or more with low cost components of a small physical size.
Type
Thesis
Description
Series/Report No
Department
Computer Science
Organization
Identifiers
NPS Report Number
Sponsors
Funder
NA
Format
222 p.
Citation
Distribution Statement
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.