Naval Postgraduate School
Dudley Knox Library
NPS Dudley Knox Library
View Item 
  •   Calhoun Home
  • Theses and Dissertations
  • 1. Thesis and Dissertation Collection, all items
  • View Item
  •   Calhoun Home
  • Theses and Dissertations
  • 1. Thesis and Dissertation Collection, all items
  • View Item
  • How to search in Calhoun
  • My Accounts
  • Ask a Librarian
JavaScript is disabled for your browser. Some features of this site may not work without it.

Browse

All of CalhounCollectionsThis Collection

My Account

LoginRegister

Statistics

Most Popular ItemsStatistics by CountryMost Popular Authors

Sonar based navigation of an autonomous underwater vehicle

Thumbnail
Download
Iconsonarbasednaviga00kayi.pdf (4.553Mb)
Download Record
Download to EndNote/RefMan (RIS)
Download to BibTex
Author
Kayirhan, Alp.
Date
1994-12
Advisor
Cristi, Roberto
Metadata
Show full item record
Abstract
A navigation algorithm to navigate an AUV within a charted environment is presented. The algorithm uses sonar range measurements and incorporates them with a potential function which defines the map of the operation area. Extended Kalman filtering is used in the algorithm. Least squares techniques are used in the estimation of system parameters. The algorithm is tested by both computer generated data and actual data collected from the vehicle NPS AUVII during tests in a water tank. Fixed interval smoothing is applied in order to smooth the estimates produced by the Kalman filter. The effects of currents in the operation area are sought. An approach based on backpropagation neural networks for the navigation algorithm is also presented. Throughout the simulation studies the algorithm yields a robust and reliable solution to the navigation problem of AUV's
URI
http://hdl.handle.net/10945/28550
Collections
  • 1. Thesis and Dissertation Collection, all items

Related items

Showing items related by title, author, creator and subject.

  • Thumbnail

    Routing a USCG buoytender to service aids to navigation: a case of the traveling salesman problem 

    Bechtle, Jon Michael (Monterey, California. Naval Postgraduate School, 1984-09);
    A problem of routing a U.S. Coast Guard buoytender to service aids to navigation is formulated as a symmetric traveling salesman problem. A heuristic algorithm is developed which seeks the minimum distance tour which can ...
  • Thumbnail

    Single Transponder Range Only Navigation Geometry (STRONG) applied to REMUS autonomous under water vehicles 

    Hartsfield, J. Carl. (2005-08);
    A detailed study was conducted to prove the concept of an iterative approach to single transponder navigation for REMUS Autonomous Underwater Vehicles (AUVs). Although the concept of navigation with one acoustic beacon ...
  • Thumbnail

    ROBOTIC NAVIGATION AND MAPPING IN GPS-DENIED ENVIRONMENTS WITH 3D LIDAR AND INERTIAL NAVIGATION UTILIZING A SENSOR FUSION ALGORITHM 

    Caspers, Matthew G. (Monterey, CA; Naval Postgraduate School, 2021-09);
    Global Navigation Satellite Systems (GNSS) do not currently offer viable solutions for autonomous robotic navigation in a tactical scenario, as GNSS networks are susceptible to enemy jamming and loss of coverage within ...
NPS Dudley Knox LibraryDUDLEY KNOX LIBRARY
Feedback

411 Dyer Rd. Bldg. 339
Monterey, CA 93943
circdesk@nps.edu
(831) 656-2947
DSN 756-2947

    Federal Depository Library      


Start Your Research

Research Guides
Academic Writing
Ask a Librarian
Copyright at NPS
Graduate Writing Center
How to Cite
Library Liaisons
Research Tools
Thesis Processing Office

Find & Download

Databases List
Articles, Books & More
NPS Theses
NPS Faculty Publications: Calhoun
Journal Titles
Course Reserves

Use the Library

My Accounts
Request Article or Book
Borrow, Renew, Return
Tech Help
Remote Access
Workshops & Tours

For Faculty & Researchers
For International Students
For Alumni

Print, Copy, Scan, Fax
Rooms & Study Spaces
Floor Map
Computers & Software
Adapters, Lockers & More

Collections

NPS Archive: Calhoun
Restricted Resources
Special Collections & Archives
Federal Depository
Homeland Security Digital Library

About

Hours
Library Staff
About Us
Special Exhibits
Policies
Our Affiliates
Visit Us

NPS-Licensed Resources—Terms & Conditions
Copyright Notice

Naval Postgraduate School

Naval Postgraduate School
1 University Circle, Monterey, CA 93943
Driving Directions | Campus Map

This is an official U.S. Navy Website |  Please read our Privacy Policy Notice  |  FOIA |  Section 508 |  No FEAR Act |  Whistleblower Protection |  Copyright and Accessibility |  Contact Webmaster

Export search results

The export option will allow you to export the current search results of the entered query to a file. Different formats are available for download. To export the items, click on the button corresponding with the preferred download format.

A logged-in user can export up to 15000 items. If you're not logged in, you can export no more than 500 items.

To select a subset of the search results, click "Selective Export" button and make a selection of the items you want to export. The amount of items that can be exported at once is similarly restricted as the full export.

After making a selection, click one of the export format buttons. The amount of items that will be exported is indicated in the bubble next to export format.