Naval Postgraduate School
Dudley Knox Library
NPS Dudley Knox Library
View Item 
  •   Calhoun Home
  • Faculty and Researchers
  • Faculty and Researchers' Publications
  • View Item
  •   Calhoun Home
  • Faculty and Researchers
  • Faculty and Researchers' Publications
  • 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

Local area navigation using sonar feature extraction and model based predictive control

Thumbnail
Download
IconHealey_Local_Area_Navigation_1996.pdf (736.8Kb)
Download Record
Download to EndNote/RefMan (RIS)
Download to BibTex
Author
Marco, D.B.
Healey, A.J.
Date
1996-06
Metadata
Show full item record
Abstract
This paper demonstrates a method to navigate an autonomous underwater vehicle in a local area using an acoustic sensor for position information derived from feature detection. A dynamic model of the vehicle response is used for control between location updates. Favorable results have been found using this approach, and precision positioning of the vehicle to centimeters has been accomplished. Another part of the problem is the need to provide a high frequency update of vehicle position in order to close the positioning servo loops. Using sonar image feature extraction is necessarily time consuming and therefore is performed in a tactical level process providing asynchronous data to the tactical navigator. It follows that some form of fast dead reckoning must be performed in the execution level either by INS/Doppler or by water speed and heading data or by a model based predictor. This paper deals with the use of a model based predictor technique where knowledge of the dynamic model of the vehicle provides state information to the vehicle positioning control function. The model uncertainty provides errors of course, but these are corrected through asynchronous updates from the feature extracted positions in the tactical level sonar manager. This concept has been verified by both simulation studies and by experimental validation with the NPS Phoenix vehicle.
Description
The article of record as published may be located at http://dx.doi.org/10.1109/AUV.1996.532402
 
 
Proceedings of the 1996 Symposium on Autonomous Underwater Vehicle Technology, 1996. AUV '96. Publication Year: 1996 , Page(s): 67-77.
 
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.
URI
http://hdl.handle.net/10945/37145
Collections
  • Faculty and Researchers' Publications

Related items

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

  • Thumbnail

    Advanced Concepts and Applications for Predictive Analytics in the Maritime Domain 

    Johnson, Bonnie W. (Monterey, California: Naval Postgraduate SchoolMonterey, California. Naval Postgraduate School, 2019-12); NPS-19-N019-B
    Naval tactical operations could take a significant leap in progress with the aid of a real-time automated predictive analytics capability that provides predictions of second and third order effects of possible courses of ...
  • Thumbnail

    An economic analysis of commercially based tactical vehicles acquisition for the Department of Defense 

    Williams, Delaney C. (Monterey, California. Naval Postgraduate School, 2001-12);
    As defense budgets decline and traditional defense industry supplies downsize and consolidate, many believe that the Department of Defense (DoD) must continue to increase its business activities in the commercial marketplace. ...
  • Thumbnail

    Performance and usage of biometrics in a testbed environment for tactical purposes 

    Verett, Marianna J. (Monterey California. Naval Postgraduate School, 2006-12);
    Naval Postgraduate School's (NPS) Tactical Network Topology (TNT) experiments seek to develop, implement and identify sensor-unmanned vehicle network, and network-centric operations to assist DoD warfighters in the Global ...
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.