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

Analysis, experimental evaluation, and software upgrade for attitude estimation by the Shallow-Water AUV Navigation System (SANS)

Thumbnail
Download
Icon97Mar_Roberts.pdf (7.095Mb)
Download Record
Download to EndNote/RefMan (RIS)
Download to BibTex
Author
Roberts, Ricky L.
Date
1997-03
Advisor
McGhee, Robert B.
Bachmann, Eric R.
Metadata
Show full item record
Abstract
The main problem addressed by this research is the lack of a small, low-cost integrated navigation system to accurately determine the position of an Autonomous Underwater Vehicle (AUV) during all phases of an underwater search or mapping mission. The approach taken utilized an evolving prototype, called the Shallow-Water AUV Navigation System (SANS), combining Global Positioning System (GPS), Inertial Measurement Unit (IMU), water speed, and magnetic heading information using Kalman, low-pass, and complimentary filtering techniques. In previous work, addition of a math coprocessor improved system update rate from 7 to 18 Hz, but revealed input/output coordination weaknesses in the software. The central focus of this thesis is on testing and programming improvements which resulted in reliable integrated operations and an increased processing speed of 40 Hz. This now allows the filter to perform in real time. A standardized tilt table evaluation and calibration procedure for the navigation filter also was developed. The system was evaluated in dynamic tilt table experiments. Test results and qualitative error estimates using differential GPS suggest that submerged navigation with SANS for a period of several minutes will result in position estimation errors typically on the order of 10 meters rms, even in the presence of substantial ocean currents.
URI
https://hdl.handle.net/10945/31936
Collections
  • 1. Thesis and Dissertation Collection, all items

Related items

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

  • Thumbnail

    Implementation and evaluation of an INS system using a three degrees of freedom MEMS accelerometer 

    Emir, Ender (Monterey California. Naval Postgraduate School, 2008-12);
    Position determination is one the most important aspects of navigation for an autonomous vehicle and can be accomplished through a variety of methods. Advances in Global Positioning System (GPS) technology, improved ...
  • Thumbnail

    Scan patterns on overland navigation in varying route difficulty: is total-flight-hours (TFH) a good measure of expertise? 

    Yang, Ji Hyun; Kennedy, Quinn; Sullivan, Joseph; Fricker, Ronald D. Jr. (Human Factors Society, 2012);
    Helicopter overland navigation is a cognitively complex task that requires continuous monitoring of system and environment parameters and many hours of training to master. This study investigated the effect of expertise ...
  • Thumbnail

    ASSESSMENT OF ELECTRO-OPTICAL IMAGING TECHNOLOGY FOR UNMANNED AERIAL SYSTEM NAVIGATION IN A GPS-DENIED ENVIRONMENT 

    Chan, Yi Cheng (Monterey, CA; Naval Postgraduate School, 2022-09);
    Navigation systems of unmanned aircraft systems (UAS) are heavily dependent on the availability of Global Positioning Systems (GPS) or other Global Navigation Satellite Systems (GNSS). Although inertial navigation systems ...
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.