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Motion Compensation of an Ultra Short Baseline Array for the Acoustic Positioning of an Underwater Vehicle for Port Operations

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Date Issued:
2007
Abstract/Description:
A Motion Compensated (MC) Ultra Short Baseline (USBL) Acoustic Positioning System (APS) operable in shallow water and port environment has been implemented at Florida Atlantic University. Multi-tones signal modulation and log-likelihood maximization enable this APS to operate in volumes of water of less than 10 cubic meters. Standard deviations of the acoustic source elevation and azimuth estimates were computed to be 3 degrees in an 8 cubic meters test tank, and reduce to 0.9 degree in a 2 meters deep marina. The motion compensating system estimates the array position and orientation while merging noisy measurements from a Magnetic, Angular Rate, and Gravity (MARG) sensor and a Differential Global Positioning System (DGPS) using Kalman filters. Experiments show 0.67 and 2.67 degrees of error for the array tilt and heading estimates, and 0.74 meter for the array position estimate.
Title: Motion Compensation of an Ultra Short Baseline Array for the Acoustic Positioning of an Underwater Vehicle for Port Operations.
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Name(s): Bon, Antoine
Beaujean, Pierre-Philippe, Thesis advisor
Florida Atlantic University, Degree grantor
Type of Resource: text
Genre: Electronic Thesis Or Dissertation
Date Created: 2007
Date Issued: 2007
Publisher: Florida Atlantic University
Place of Publication: Boca Raton, Fla.
Physical Form: application/pdf
Extent: 172 p.
Language(s): English
Abstract/Description: A Motion Compensated (MC) Ultra Short Baseline (USBL) Acoustic Positioning System (APS) operable in shallow water and port environment has been implemented at Florida Atlantic University. Multi-tones signal modulation and log-likelihood maximization enable this APS to operate in volumes of water of less than 10 cubic meters. Standard deviations of the acoustic source elevation and azimuth estimates were computed to be 3 degrees in an 8 cubic meters test tank, and reduce to 0.9 degree in a 2 meters deep marina. The motion compensating system estimates the array position and orientation while merging noisy measurements from a Magnetic, Angular Rate, and Gravity (MARG) sensor and a Differential Global Positioning System (DGPS) using Kalman filters. Experiments show 0.67 and 2.67 degrees of error for the array tilt and heading estimates, and 0.74 meter for the array position estimate.
Identifier: FA00012507 (IID)
Degree granted: Thesis (M.S.)--Florida Atlantic University, 2007.
Collection: FAU Electronic Theses and Dissertations Collection
Note(s): College of Engineering and Computer Science
Subject(s): Underwater navigation
Acoustical engineering
Adaptive signal processing
Underwater acoustic telemetry
Held by: Florida Atlantic University Libraries
Sublocation: Digital Library
Persistent Link to This Record: http://purl.flvc.org/fau/fd/FA00012507
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.