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Real-Time Localization of a Magnetic Anomaly: A Study of the Effectiveness of a Genetic Algorithm for Implementation on an Autonomous Underwater Vehicle

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Date Issued:
2017
Summary:
The primary objective of this research is to investigate the viability of magnetic anomaly localization with an autonomous underwater vehicle, using a genetic algorithm (GA). The localization method, first proposed by Sheinker. et al. 2008, is optimized here for the case of a moving platform. Extensive magnetic field modeling and algorithm simulation has been conducted and yields promising results. Field testing of the method is conducted with the use of the Ocean Floor Geophysics Self-Compensating Magnetometer (SCM). Extensive out-of-water field testing is conducted to validate the ability to measure a target signal in a uniform NED frame as well as to validate the effectiveness of the GA. The outcome of the simulation closely matches the results of the conducted field tests. Additionally, the SCM is fully integrated with FAU’s Remus 100 AUV and preliminary in-water testing of the system has been conducted.
Title: Real-Time Localization of a Magnetic Anomaly: A Study of the Effectiveness of a Genetic Algorithm for Implementation on an Autonomous Underwater Vehicle.
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Name(s): Philippeaux, Harryel Arsene, 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: 2017
Date Issued: 2017
Publisher: Florida Atlantic University
Place of Publication: Boca Raton, Fla.
Physical Form: application/pdf
Extent: 105 p.
Language(s): English
Summary: The primary objective of this research is to investigate the viability of magnetic anomaly localization with an autonomous underwater vehicle, using a genetic algorithm (GA). The localization method, first proposed by Sheinker. et al. 2008, is optimized here for the case of a moving platform. Extensive magnetic field modeling and algorithm simulation has been conducted and yields promising results. Field testing of the method is conducted with the use of the Ocean Floor Geophysics Self-Compensating Magnetometer (SCM). Extensive out-of-water field testing is conducted to validate the ability to measure a target signal in a uniform NED frame as well as to validate the effectiveness of the GA. The outcome of the simulation closely matches the results of the conducted field tests. Additionally, the SCM is fully integrated with FAU’s Remus 100 AUV and preliminary in-water testing of the system has been conducted.
Identifier: FA00005948 (IID)
Degree granted: Thesis (M.S.)--Florida Atlantic University, 2017.
Collection: FAU Electronic Theses and Dissertations Collection
Note(s): Includes bibliography.
Subject(s): Dissertations, Academic -- Florida Atlantic University
Autonomous underwater vehicles
Genetic algorithms.
Geomagnetic field
Geomagnetism.
Held by: Florida Atlantic University Libraries
Sublocation: Digital Library
Persistent Link to This Record: http://purl.flvc.org/fau/fd/FA00005948
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.