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dc.contributor.advisorMcGhee, Robert B.
dc.contributor.authorMcClarin, David W.
dc.date.accessioned2013-04-30T22:06:01Z
dc.date.available2013-04-30T22:06:01Z
dc.date.issued1996-03
dc.identifier.urihttp://hdl.handle.net/10945/32182
dc.descriptionComputer Scienceen_US
dc.description.abstractThe Phoenix Autonomous Underwater Vehicle must be able to accurately determine its position at all times. This requires: (1) GPS and differential GPS for surface navigation, (2) short baseline sonar ranging system for submerged navigation, and (3) mathematical modeling of position. This thesis describes a method of Kalman filtering to merge the GPS, differential GPS, short baseline sonar ranging, and the mathematical model to produce a single state vector of vehicle position and ocean currents. The filter operates in the extended mode for processing the nonlinear sonar ranges, and in normal mode for the linear GPS/DGPS data. This required installation of a GPS system and the determination of the different variances and errors between these systems. Phoenix now has a real time method of position determination using either position measuring system separately or combined. The results of this work have been validated by real world testing of the vehicle at sea, where position estimates accurate to within several meters were obtained.en_US
dc.description.urihttp://archive.org/details/discretesynchron1094532182
dc.format.extentxii, 127 p. :|bill.en_US
dc.language.isoen_US
dc.publisherMonterey, California. Naval Postgraduate Schoolen_US
dc.subject.lcshRemote submersibles.;Underwater navigation.;Kalman filtering,en_US
dc.titleDiscrete asynchronous Kalman filtering of navigation data for the Phoenix autonomous underwater vehicleen_US
dc.contributor.secondreaderHealey, Anthony
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.


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