Show simple item record

dc.contributor.advisorMcGhee, Robert B.
dc.contributor.advisorBachmann, Eric R.
dc.contributor.authorRoberts, Ricky L.
dc.date.accessioned2013-04-30T21:56:02Z
dc.date.available2013-04-30T21:56:02Z
dc.date.issued1997-03
dc.identifier.urihttp://hdl.handle.net/10945/31936
dc.description.abstractThe 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.en_US
dc.description.urihttp://archive.org/details/analysisexperime1094531936
dc.format.extentxviii, 190 p.;28 cm.en_US
dc.language.isoen_US
dc.publisherMonterey, California. Naval Postgraduate Schoolen_US
dc.titleAnalysis, experimental evaluation, and software upgrade for attitude estimation by the Shallow-Water AUV Navigation System (SANS)en_US
dc.typeThesisen_US
dc.contributor.departmentComputer Science
dc.subject.authorNAen_US
dc.description.funderNAen_US
dc.description.recognitionNAen_US
dc.description.serviceU.S. Navy (U.S.N.) author.en_US
etd.thesisdegree.nameM.S. in Computer Scienceen_US
etd.thesisdegree.levelMastersen_US
etd.thesisdegree.disciplineComputer Scienceen_US
etd.thesisdegree.grantorNaval Postgraduate Schoolen_US
dc.description.distributionstatementApproved for public release; distribution is unlimited.


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record