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low-cost, high rate motion measurement system for an unmanned surface vehicle with underwater navigation and oceanographic applications

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Date Issued:
2010
Summary:
Standard GPS receivers are unable to provide the rate or precision required when used on a small vessel such as an Unmanned Surface Vehicles (USVs). To overcome this, the thesis presents a low cost high rate motion measurement system for an USV with underwater and oceanographic purposes. The work integrates an Inertial Measurement Unit (IMU), a GPS receiver, a flux-gate compass, a tilt sensor and develops a software package, using real time data fusion methods, for an USV to aid in the navigation and control as well as controlling an onboard Acoustic Doppler Current Profiler (ADCP).While ADCPs non-intrusively measure water flow, they suffer from the inability to discriminate between motions in the water column and self-motion. Thus, the vessel motion contamination needs to be removed to analyze the data and the system developed in this thesis provides the motion measurements and processing to accomplish this task.
Title: A low-cost, high rate motion measurement system for an unmanned surface vehicle with underwater navigation and oceanographic applications.
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Name(s): Gelin, Chrystel.
College of Engineering and Computer Science
Department of Ocean and Mechanical Engineering
Type of Resource: text
Genre: Electronic Thesis Or Dissertation
Issuance: multipart monograph
Date Issued: 2010
Publisher: Florida Atlantic University
Physical Form: electronic
Extent: xx, 122 p. : ill. (some col.)
Language(s): English
Summary: Standard GPS receivers are unable to provide the rate or precision required when used on a small vessel such as an Unmanned Surface Vehicles (USVs). To overcome this, the thesis presents a low cost high rate motion measurement system for an USV with underwater and oceanographic purposes. The work integrates an Inertial Measurement Unit (IMU), a GPS receiver, a flux-gate compass, a tilt sensor and develops a software package, using real time data fusion methods, for an USV to aid in the navigation and control as well as controlling an onboard Acoustic Doppler Current Profiler (ADCP).While ADCPs non-intrusively measure water flow, they suffer from the inability to discriminate between motions in the water column and self-motion. Thus, the vessel motion contamination needs to be removed to analyze the data and the system developed in this thesis provides the motion measurements and processing to accomplish this task.
Identifier: 664683079 (oclc), 2709690 (digitool), FADT2709690 (IID), fau:3541 (fedora)
Note(s): by Chrystel Gelin.
Thesis (M.S.C.S.)--Florida Atlantic University, 2010.
Includes bibliography.
Electronic reproduction. Boca Raton, Fla., 2010. Mode of access: World Wide Web.
Subject(s): Oceanographic instruments -- Evaluation
Underwater navigation
Adaptive signal processing
Inertial navigation systems
Wave motion, Theory of
Persistent Link to This Record: http://purl.flvc.org/FAU/2709690
Use and Reproduction: http://rightsstatements.org/vocab/InC/1.0/
Host Institution: FAU