Design and evaluation of an integrated, self-contained GPS/INS shallow-water AUV navigation system (SANS)
By: Randy G. Walker
Publisher: Naval Postgraduate School; Available from National Technical Information Service
Published: 1996
Place of publication: Monterey, Calif; Springfield, Va
Language: eng
Number of pages: 160
Subjects: Global Positioning System; Kalman filtering; Underwater navigation; Remote submersibles
Description: The main problem addressed by this research is to find an alternative to the use of large and/or expensive equipment required by conventional navigation systems to accurately determine the position of an Autonomous Underwater Vehicle (AUV) during all phases of an underwater search or mapping mission. The approach taken was to advance an existing integrated navigation system prototype which combines Global Positioning System (GPS), Inertial Measurement Unit (IMU), water speed, and heading information using Kalman filtering techniques. The hardware and software architecture of the prototype system were advanced to a level such that it is completely self- contained in a relatively small, lightweight package capable of on-board processing of sensor data and outpouring updated position fixes at a rate of 10 Hz; an improvement from the 5 Hz rate delivered by the prototype. The major changes to the preceding prototype implemented by this research were to install an on-board processor to locally process sensor outputs, and improve upon the analog filter and voltage regulation circuitry. Preliminary test results indicate the newly designed SANS provides a 100% performance improvement over the previous prototype. It now delivers a 10Hz update rate, and increased accuracy due to the improved analog filter and the higher sampling rate provided by the processor.
Notes: "June 1996."

Thesis advisor(s): Xiaoping Yun,  Robert B. McGhee.

Thesis (M.S. in  Electrical Engineering and M.S. in Computer Science) Naval Postgraduate School, June 1996.

Includes bibliographical references (p. 155-157)

Approved for public release; distribution unlimited.

Also available online.

Mode of access: World Wide Web.

System requirements: Adobe Acrobat Reader.

US Marine Corps (USMC) author.

dk/dk cc:9996 12/12/96  Record updated 02/14/05  PA