Design and evaluation of an integrated GPS/INS system for shallow-water AUV Navigation
Bachmann, Eric R.
Gay, David L.
McGhee, Robert B.
MetadataShow full item record
The major problem addressed by this research is the large and/or expensive equipment required by a conventional 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 was to prototype an integrated navigation system which combines Global Positioning System (OPS) and Inertial Measurement Unit (IMU), waterspeed and heading information using Kalman filtering techniques. Actual implementation was preceded by a computer simulation to test where the unit would fit into a larger hardware and software hierarchy of an AUV. The system was then evaluated in experiments which began with land based cart tests and progressed to open water trials where the unit was placed in a towed body behind a boat and alternately submerged and surfaced to provide periodic OPS updates to the Inertial Navigation System (INS). Test results and qualitative error estimates indicate that submerged navigation accuracy comparable to that of differential OPS may be attainable for periods of 30 seconds or more with low cost components of a small physical size.
Showing items related by title, author, creator and subject.
Redmond, Patrick J. (Monterey, California. Naval Postgraduate School, 2007-03);The next generation of military capabilities will hinge on systems of systems technologies, entailing the integration of numerous large scale systems into a complex system of systems whose capability exceeds the capabilities ...
Nagashima, M.; Agrawal, B.N. (2012);For a large Adaptive Optics (AO) system such as a large Segmented Mirror Telescope (SMT), it is often difficult, although not impossible, to directly apply common Multi-Input Multi-Output (MIMO) controller design methods ...
Caffall, Dale Scott (Monterey, California. Naval Postgraduate School, 2005-03);Capturing and realizing the desired system-of-systems behavior in the traditional natural language development documents is a complex issue given that the legacy systems in a system-of-systems exhibit independent behaviors. ...