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dc.contributor.advisorMcGhee, Robert B.
dc.contributor.authorHartley, Chet A.
dc.dateJune 1988
dc.date.accessioned2012-11-27T18:06:31Z
dc.date.available2012-11-27T18:06:31Z
dc.date.issued1988-06
dc.identifier.urihttp://hdl.handle.net/10945/22977
dc.description.abstractFor an Autonomous Underwater Vehicle to complete many operational missions, it must have the ability to maintain its position relative to the ocean floor. Maintaining station requires that the AUV be able to determine the direction and the distance displaced during a small time interval. Knowing the direction and distance traveled in a measured amount of time, the magnitude and direction of the ocean current can be calculated. Once this ocean current information is known, the AUV speed and direction can be properly adjusted to directly offset the ocean current forces. This thesis will attempt to determine, by computer simulation, if the first problem of AUV station keeping, vehicle movement direction and distance detection can be performed using bottom-tracking sonar as the AUV's only sensor. Both the problems of performing and storing successive synthetic sonar images and of determining AUV motion using frame to frame correlation of these images are investigated.en_US
dc.description.sponsorshipNaval Postgraduate School under the cognizance of the Naval Surface Weapons Center O & MN, Direct Funding
dc.description.urihttp://archive.org/details/acomputersimulat1094522977
dc.language.isoen_US
dc.publisherMonterey, California. Naval Postgraduate Schoolen_US
dc.rightsThis 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.en_US
dc.subject.lcshComputer Scienceen_US
dc.subject.otherComputerized Simulationen_US
dc.subject.otherCorrelationen_US
dc.subject.otherDetectionen_US
dc.subject.otherDetectorsen_US
dc.subject.otherFramesen_US
dc.subject.otherImagesen_US
dc.subject.otherMissionsen_US
dc.subject.otherOcean Bottomen_US
dc.subject.otherOcean Currentsen_US
dc.subject.otherRange (Distance)en_US
dc.subject.otherSonar Imagesen_US
dc.subject.otherStationkeepingen_US
dc.subject.otherSubmersiblesen_US
dc.subject.otherSynthesisen_US
dc.subject.otherTime Intervalsen_US
dc.subject.otherUnderwateren_US
dc.titleA computer simulation study of station keeping by an autonomous submersible using bottom-tracking sonaren_US
dc.typeThesisen_US
dc.contributor.secondreaderChristi, Roberto
dc.contributor.corporateNaval Postgraduate School (U.S.)
dc.contributor.departmentComputer Science (CS)
dc.subject.authorartificial intelligenceen_US
dc.subject.authorroboticsen_US
dc.subject.authorgraphicsen_US
dc.subject.authorautonomous underwater vehicleen_US
dc.subject.authorinertial navigationen_US
dc.subject.authorcorrelation velocity log sonaren_US
dc.subject.authorbottom-tracking sonaren_US
dc.description.funderNaval Postgraduate School under the cognizance of the Naval Surface Weapons Center O & MN, Direct Fundingen_US
dc.description.serviceLieutenant, United States Coast Guarden_US
dc.identifier.npsreportNPS 52-88-013
etd.thesisdegree.nameM.S. in Computer Scienceen_US
etd.thesisdegree.levelMastersen_US
etd.thesisdegree.disciplineComputer Scienceen_US
etd.thesisdegree.grantorNaval Postgraduate Schoolen_US
dc.description.distributionstatementApproved for public release; distribution is unlimited.


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