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

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Authors
Terjesen, Steven
Subjects
SEAFOX
RHIB
unmanned
autonomous
extended Kalman filter
EKF
unscented Kalman filter
UKF
square root unscented Kalman Filter
SR-UKF
spherical simplex unscented Kalman filter
SSUKF
square root spherical simplex unscented Kalman filter
SR-SSUKF.
Advisors
Horner, Douglas
Kragelund, Sean
Date of Issue
2014-09
Date
Sep-14
Publisher
Monterey, California: Naval Postgraduate School
Language
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.
Type
Thesis
Description
Series/Report No
Department
Mechanical and Aerospace Engineering (MAE)
Organization
Identifiers
NPS Report Number
Sponsors
Funder
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Distribution Statement
Approved for public release; distribution is unlimited.
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.
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