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dc.contributor.advisorHorner, Doug
dc.contributor.authorJuriga, Jacob T.
dc.dateJune 2014
dc.date.accessioned2014-08-13T20:17:46Z
dc.date.available2014-08-13T20:17:46Z
dc.date.issued2014-06
dc.identifier.urihttp://hdl.handle.net/10945/42654
dc.descriptionApproved for public release; distribution is unlimiteden_US
dc.description.abstractThis research investigates the ability to create an undersea bathymetry map and navigate relative to the map. This is known as terrain aided navigation (TAN). In our particular case, the goal was for an autonomous underwater vehicle (AUV) to reduce positional uncertainty through the use of downward-looking swath sonar and employing TAN techniques. This is considered important for undersea operations where positioning systems such as GPS are either not available or difficult to put in place. There are several challenges associated with TAN that are presented: The image processing necessary to extract altitude data from the sonar image, the initial building of the bathymetry map, incorporating a system and measurement model that takes into consideration AUV motion and sensor uncertainty and near-optimal, real-time estimation algorithms. The thesis presents a methodology coupled with analysis on datasets collected from joint Naval Postgraduate School/National Aeronautical Space Administration experimentation conducted at the Aquarius undersea habitat near Key Largo, Florida. .en_US
dc.publisherMonterey, California: Naval Postgraduate Schoolen_US
dc.rightsThis publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. As such, it is in the public domain, and under the provisions of Title 17, United States Code, Section 105, may not be copyrighted.en_US
dc.titleTerrain aided navigation for REMUS autonomous underwater vehicleen_US
dc.typeThesisen_US
dc.contributor.secondreaderToit, Noel Du
dc.contributor.departmentMechanical Engineering
dc.subject.authorTerrain aided navigationen_US
dc.subject.authorterrain-relative navigationen_US
dc.subject.authorterrain-based navigationen_US
dc.subject.authorautonomous underwater vehicleen_US
dc.subject.authorparticle filteren_US
dc.subject.authorKalman filteren_US
dc.description.serviceEnsign, United States Navyen_US
etd.thesisdegree.nameMaster of Science in Mechanical Engineeringen_US
etd.thesisdegree.levelMastersen_US
etd.thesisdegree.disciplineMechanical Engineeringen_US
etd.thesisdegree.grantorNaval Postgraduate Schoolen_US


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