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Optical 2D Positional Estimation for a Biomimetic Station-Keeping Autonomous Underwater Vehicle

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Date Issued:
2015
Summary:
Underwater vehicles often use acoustics or dead reckoning for global positioning, which is impractical for low cost, high proximity applications. An optical based positional feedback system for a wave tank operated biomimetic station-keeping vehicle was made using an extended Kalman filter and a model of a nearby light source. After physical light model verification, the filter estimated surge, sway, and heading with 6 irradiance sensors and a low cost inertial measurement unit (~$15). Physical testing with video feedback suggests an average error of ~2cm in surge and sway, and ~3deg in yaw, over a 1200 cm2 operational area. This is 2-3 times better, and more consistent, than adaptations of prior art tested alongside the extended Kalman filter feedback system. The physical performance of the biomimetic platform was also tested. It has a repeatable forward velocity response with a max of 0.3 m/s and fair stability in surface testing conditions.
Title: Optical 2D Positional Estimation for a Biomimetic Station-Keeping Autonomous Underwater Vehicle.
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Name(s): Nunes, Christopher, author
Dhanak, Manhar R., Thesis advisor
Florida Atlantic University, Degree grantor
College of Engineering and Computer Science
Department of Ocean and Mechanical Engineering
Type of Resource: text
Genre: Electronic Thesis Or Dissertation
Date Created: 2015
Date Issued: 2015
Publisher: Florida Atlantic University
Place of Publication: Boca Raton, Fla.
Physical Form: application/pdf
Extent: 135 p.
Language(s): English
Summary: Underwater vehicles often use acoustics or dead reckoning for global positioning, which is impractical for low cost, high proximity applications. An optical based positional feedback system for a wave tank operated biomimetic station-keeping vehicle was made using an extended Kalman filter and a model of a nearby light source. After physical light model verification, the filter estimated surge, sway, and heading with 6 irradiance sensors and a low cost inertial measurement unit (~$15). Physical testing with video feedback suggests an average error of ~2cm in surge and sway, and ~3deg in yaw, over a 1200 cm2 operational area. This is 2-3 times better, and more consistent, than adaptations of prior art tested alongside the extended Kalman filter feedback system. The physical performance of the biomimetic platform was also tested. It has a repeatable forward velocity response with a max of 0.3 m/s and fair stability in surface testing conditions.
Identifier: FA00004528 (IID)
Degree granted: Thesis (M.S.)--Florida Atlantic University, 2015.
Collection: FAU Electronic Theses and Dissertations Collection
Note(s): Includes bibliography.
Subject(s): Biometric identification
Feedback control systems
Oceanographic submersibles -- Design and construction
Optical pattern recognition
Remote submersibles -- Design and construction
Held by: Florida Atlantic University Libraries
Sublocation: Digital Library
Links: http://purl.flvc.org/fau/fd/FA00004528
Persistent Link to This Record: http://purl.flvc.org/fau/fd/FA00004528
Use and Reproduction: Copyright © is held by the author, with permission granted to Florida Atlantic University to digitize, archive and distribute this item for non-profit research and educational purposes. Any reuse of this item in excess of fair use or other copyright exemptions requires permission of the copyright holder.
Use and Reproduction: http://rightsstatements.org/vocab/InC/1.0/
Host Institution: FAU
Is Part of Series: Florida Atlantic University Digital Library Collections.