Sonar based navigation of an autonomous underwater vehicle
By:  Alp Kayirhan
Publisher: Naval Postgraduate School; Available from National Technical Information Service
Published: 1994
Place of publication: Monterey, Calif; Springfield, Va
Language: eng
Number of pages: 86
Description: A navigation algorithm to navigate an AUV within a charted environment is presented. The algorithm uses sonar range measurements and incorporates them with a potential function which defines the map of the operation area. Extended Kalman filtering is used in the algorithm. Least squares techniques are used in the estimation of system parameters. The algorithm is tested by both computer generated data and actual data collected from the vehicle NPS AUVII during tests in a water tank. Fixed interval smoothing is applied in order to smooth the estimates produced by the Kalman filter. The effects of currents in the operation area are sought. An approach based on backpropagation neural networks for the navigation algorithm is also presented. Throughout the simulation studies the algorithm yields a robust and reliable solution to the navigation problem of AUV's.
Notes: Thesis advisor(s): Roberto Cristi.

"June 1994."

Thesis (M.S. in Engineering Science (EE)) Naval Postgraduate   School, June 1994.

Includes bibliographical references.

Approved for public release; distribution unlimited.

Also available online.

Mode of access: World Wide Web.

System requirements: Adobe Acrobat Reader.

Turkish Navy author.