Naval Postgraduate School
Dudley Knox Library
NPS Dudley Knox Library
View Item 
  •   Calhoun Home
  • Theses and Dissertations
  • 1. Thesis and Dissertation Collection, all items
  • View Item
  •   Calhoun Home
  • Theses and Dissertations
  • 1. Thesis and Dissertation Collection, all items
  • 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

Navigation system design and state estimation for a small rigid hull inflatable boat (RHIB)

Thumbnail
Download
Icon14Sep_Terjesen_Steven.pdf (2.667Mb)
Download Record
Download to EndNote/RefMan (RIS)
Download to BibTex
Author
Terjesen, Steven
Date
2014-09
Advisor
Horner, Douglas
Kragelund, Sean
Metadata
Show full item record
Abstract
Autonomous operation of a small rigid hull inflatable boat (RHIB) is a complex problem that requires a robust network of sensors, controllers, processors, and actuators. Furthermore, autonomous navigation requires accurate state estimation, fusing and filtering data from an array of sensors to give the best possible estimates of attitude, position, and velocity. This thesis will address the hardware modifications and navigation state estimators used to configure the SeaFox Mk II RHIB for future autonomous operations. The study began with a RHIB capable of manual and remote-controlled operation. The proprietary controllers and processors were replaced with an open architecture system that enabled an autonomous mode of operation and data collection from a suite of global positioning satellite receivers and inertial measurement units. Multiple navigation state estimators were designed using the extended Kalman filter and several variants of the unscented Kalman filter. Each filter was evaluated against simulated and actual sea trial data to determine its accuracy, robustness, and computational efficiency.
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/10945/44016
Collections
  • 1. Thesis and Dissertation Collection, all items

Related items

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

  • Thumbnail

    Optimizing future operations for special forces battalions: reviewing the CONOP process 

    Sanford, Edward "Judd" (Monterey, California: Naval Postgraduate School, 2013-06);
    Evidence obtained in this study shows that a successful CONOP product contains minimal informational requirements for approval and an effective CONOP procedure is supported by a targeting methodology with lower delegation ...
  • Thumbnail

    COTS Solution for Adaptive Communications Paths Using Tactical Handhelds 

    Singh, Gurminder; Prince, Charles; Beverly, Robert (Monterey, California: Naval Postgraduate SchoolMonterey, California. Naval Postgraduate School, 2019-12); NPS-19-M244-B
    COTS handheld devices have multiple radios (such as Bluetooth, WiFi Direct, WiFi, Cellular 2/3/4/5G) built into them. Using all of these radios simultaneously can provide great flexibility in communications in limited yet ...
  • Thumbnail

    COTS Solution for Adaptive Communications Paths Using Tactical Handhelds 

    Singh, Gurminder; Prince, Charles; Beverly, Robert (Monterey, California: Naval Postgraduate SchoolMonterey, California. Naval Postgraduate School, 2019-12); NPS-19-M244-B
    COTS handheld devices have multiple radios (such as Bluetooth, WiFi Direct, WiFi, Cellular 2/3/4/5G) built into them. Using all of these radios simultaneously can provide great flexibility in communications in limited yet ...
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.