Design of a navigator for a Testbed Autonomous Underwater Vehicle
By: John Robert Friend
Contributors: Cristi, Roberto
Publisher: Naval Postgraduate School; Available from the National Technical Information Service
Published: 1989
Place of publication: Monterey, Calif; Springfield, Va
Language: eng
Number of pages: 207
Description: Autonomous Underwater Vehicles (AUV) are a subject of study at the Naval Postgraduate School (NPS). This thesis discusses the formulation of a navigator for the Testbed AUV being constructed at NPS. The navigator being proposed estimates the position of the vehicle using measurable dynamic parameters. The estimate is refined by an observation of position using sonar. The effects of set, drift and sonar noise are minimized using a filter. A simulation to test the AUV is also provided to test the effectiveness of the navigator through a range of noise environments. The simulation is an extension of the work of LT C.A. Hartley who modeled a more complex sonar to detect motion over the ground for a station keeping AUV (ada 196 957).
Notes: Cover title: The design ...

Thesis advisor, Cristi, Roberto.

"December 1989."

DTIC Descriptor(s): Drift, Dynamics, Environments, Measurement, Noise (Sound), Observation, Parameters, Position (Location), Self Operation, Simulation, Sonar, Stationkeeping, Test Beds, Underwater Vehicles, Vehicles.

DTIC Indicator(s): AUV (Autonomous Underwater Vehicles), Autonomous navigation, Underwater navigation, Underwater vehicles, Computer programs, Theses.

Author(s) subject terms: Autonomous Underwater Vehicles, Artificial intelligence, Robotics, Graphics.

Thesis (M.S. in Electrical Engineering) Naval Postgraduate School, Dec. 1989.

Includes bibliographical references.

"Approved for public release; distribution unlimited"--Cover.

Also availalble online.

Mode of access: World Wide Web.

System requirements: Adobe Acrobat Reader.

US Navy (USN) author.