Incorporation of GPS/INS into small autonomous underwater vehicle navigation

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Author
McKeon, James Bernard
Date
1992-03Advisor
Kwak, Se-Hung
Clynch, James R.
Second Reader
Clynch, J.R.
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Show full item recordAbstract
Navigation of an Autonomous Underwater Vehicle (AUV) is a problem that has not
been adequately solved. Although the inclusion of the Global Positioning System (GPS)
into AUV navigation has been briefly examined before, this possibility is explored further
in this thesis. GPS and Inertial Measurement System (INS) based navigation package
offers many advantages for AUV navigation especially for transits and precise object
location in shallow water.
This thesis provides background information on GPS and INS as they pertain to small
AUV employment. Other required components are also examined as they pertain to small
AUV employment. The use of the GPS/INS navigation package for AUV transits and
precise object location work is presented. Two designs with specified components are
developed. A GPS receiver was tested for AUV employment suitability. These test results
are presented and analyzed.
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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.Collections
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