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dc.contributor.advisorCristi, Roberto
dc.contributor.authorKayirhan, Alp.
dc.date.accessioned2013-02-15T23:33:58Z
dc.date.available2013-02-15T23:33:58Z
dc.date.issued1994-12
dc.identifier.urihttps://hdl.handle.net/10945/28550
dc.description.abstractA 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'sen_US
dc.description.urihttp://archive.org/details/sonarbasednaviga1094528550
dc.format.extent86 p.;28 cm.en_US
dc.language.isoen_US
dc.publisherMonterey, California. Naval Postgraduate Schoolen_US
dc.subject.lcshEngineering Scienceen_US
dc.titleSonar based navigation of an autonomous underwater vehicleen_US
dc.typeThesisen_US
dc.contributor.corporateNA
dc.contributor.schoolNA
dc.contributor.departmentEngineering Science
dc.contributor.departmentElectrical Engineering
dc.description.funderNAen_US
dc.description.recognitionNAen_US
dc.description.serviceTurkish Navy author.en_US
dc.identifier.oclco640610729
etd.thesisdegree.nameM.S. in Engineering Science [EE]en_US
etd.thesisdegree.levelMastersen_US
etd.thesisdegree.disciplineEngineering Scienceen_US
etd.thesisdegree.disciplineElectrical Engineeringen_US
etd.thesisdegree.grantorNaval Postgraduate Schoolen_US


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