A software architecture for a small autonomous underwater vehicle navigation system
Stevens, Clark D.
Clynch, James R.
MetadataShow full item record
This thesis documents the development of an interim Small Autonomous Underwater Vehicle (AUV) Navigation System (SANS), a self-contained, externally mountable navigation package. The purpose of SANS is to determine the position of a submerged object of interest located by an AUV. The volume of SANS must not exceed 120 cubic inches and total system accuracy of 10.0 meters rms or better is required. An Inertial Navigation System (INS) is implemented to compute the ascent path during transit from an object of interest to the surface. INS hardware components include miniature spin gyroscopes, a compass and a depth transducer interfaced through an analog to digital converter. Global Positioning System (GPS) is used to determine the AUV's location after reaching the surface. The reciprocal of the ascent vector is applied to the AUV's GPS position to accurately determine the location of the target of interest. A primarily object- oriented software architecture is implemented here with extensive software testing to verify the proper operation of key modules. The objective of this thesis is to quantify the adequacy of the selected components in meeting these requirements and to develop a breadboard design demonstrating the basic functions of the interim SANS. This research concludes that the components selected for the interim SANS meet the accuracy requirements provided the AUV maintains a climb angle which is equal to or steeper than 12 degrees from a typical mission depth of 20 meters.
Approved for public release; distribution is unlimited.
Showing items related by title, author, creator and subject.
Moore, Nancy Y.; Dunigan, Molly; Camm, Frank; Cherney, Samantha; Grammich, Clifford A.; Mele, Judith D.; Peet, Evan D.; Szafran, Anita (Monterey, California. Naval Postgraduate School, 2018-04-30); SYM-AM-18-053Title 10, Section 2330a, of the U.S. Code requires the Secretary of Defense to "submit to Congress an annual inventory of the activities performed during the preceding fiscal year pursuant to contracts for services."Persistent ...
Lee, Kok Kiang (Monterey California. Naval Postgraduate School, 2008-12);We consider a sensor that is subject to false positive and false negative errors. The sensor searches for stationary threat objects such as ballistic missile launchers or improvised explosive devices. The objects are located ...
Schaus, Brian M. (Monterey, California: Naval Postgraduate School, 2015-03);Techniques for classifying maritime domain targets-of-interest within images are explored in this thesis. Geometric and photometric features within each image are extracted from processed images and are used to train a ...