Evaluation of hardware and software for a Small Autonomous Underwater Vehicle Navigation System (SANS)
Norton, Nancy Ann
McGhee, Robert B.
Clynch, James R.
MetadataShow full item record
The purpose of this thesis is to evaluate the hardware and software for a Small Autonomous Underwater Vehicle (AUV) Navigation System (SANS), a self-contained, externally mountable navigation system. The SANS is designed to determine the location of an underwater object using a combination of Global Positioning System (GPS) while surfaced, sand Inertial Navigation System (INS) while submerged. Various experimental testing of the hardware was performed to determine the ability of the GPS navigation system to function within the mission requirements. A test was done to determine the time required to obtain a GPS fix. A test of the system while the antenna was covered with water, was done to determine if the GPS signal could penetrate a shallow while the antenna was covered with water, was done to determine if the GPS signal could penetrate a shallow layer of water. Finally, a sea test was done to determine the feasibility of reacquiring a GPS fix after the system has been submerged during normal ocean wave wash. A computer simulation was written in Common LISP Object System (CLOS) in order to evaluate the errors introduced by using a accelerometer in the INS to determine the climb angle of the AUV while surfacing. The experimental testing of the GPS system showed that the GPS signal is able to penetrate a shallow layer of water covering the antenna, and that the system is able to meet the accuracy and time requirements of the mission while being splashed by wave wash. The simulation results show that the error introduced by measuring climb angle with an accelerometer is minor and will not significantly degrade the accuracy of the system
Showing items related by title, author, creator and subject.
Arslan, Suat (Monterey, California. Naval Postgraduate School, 2000-03);At the Naval Postgraduate School (NPS), a small AUV navigation system (SANS) was developed for research in support of shallow-water mine countermeasures and coastal environmental monitoring The objective of this thesis is ...
A personal inertial-navigation system based on multiple distributed, nine-degrees-of-freedom, inertial measurement units Johnson, Cole C. (Monterey, California: Naval Postgraduate School, 2016-12);The use of inertial-measurement units (IMUs) for personal navigation is investigated in this thesis. IMUs lack a position-finding algorithm that optimally blends sensor data to achieve high accuracy in a GPS-denied ...
Herbers, T.H.C.; Jessen, P.F.; Janssen, T.T.; Colbert, D.B.; MacMahan, J.H. (2012-07);Surface-following buoys are widely used to collect routine ocean wave measurements. While accelerometer and tilt sensors have been used for decades to measure the wave-induced buoy displacements, alternative global ...