Virtual Long Baseline (VLBL) autonomous underwater vehicle navigation using a single transponder
LaPointe, Cara E. G.
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This thesis presents a simulation of autonomous underwater vehicle navigation using a single transponder to create a virtual long baseline (VLBL). Similarly to LBL systems, ranges in a VLBL are calculated between the vehicle and the transponder, but the vehicle position is determined by advancing multiple ranges from a single transponder along the vehicles dead reckoning track. Vehicle position is then triangulated using these successive ranges in a manner analogous to a 'running fix' in surface ship navigation. Navigation data from bottom survey operations of an underwater vehicle called the Autonomous Benthic Explorer (ABE) were used in the simulation. The results of this simulation are presented along with a discussion of the benefits, limitations, and implications of its extension to real-time operations. A cost savings analysis was also conducted based both on the idea that a single surveyed beacon could be deployed for underwater navigation and on the further extension of this problem that the 'single beacon' used for navigation could be located on the ship itself.
CIVINS (Civilian Institutions) Thesis document
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.
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