You are here

FAU Collections » FAU Research Repository » FAU Theses and Dissertations

Enhancement of the inertial navigation system for the Florida Atlantic University autonomous underwater vehicles

Download pdf | Full Screen View

Date Issued:
2000
Summary:
This thesis describes a new Inertial Navigation System (INS), designed for use on the latest generation of Autonomous Underwater Vehicle (AUV), the Morpheus AUVs, developed by the Department of Ocean Engineering. The INS makes use of a high precision Inertial Measurement Unit (IMU) along with a Doppler Velocity Log (DVL), a GPS/DGPS system and a flux gate magnetic compass to estimate the position of the vehicle during a mission. Extensive data processing methods are used in order to reduce the sources of error most critical to the navigation estimation. Accelerometers and gyroscopes are used to estimate the vehicle attitude in a complementary filter; a standard Kalman filter performs yaw rate bias estimation, whereas a second, extended Kalman filter, provides position estimation of the vehicle in real time, while also correcting for heading errors. Overall the INS is capable of providing the Morpheus with 1% navigation accuracy over an hour.
Title: Enhancement of the inertial navigation system for the Florida Atlantic University autonomous underwater vehicles.
147 views
52 downloads
Name(s): Grenon, Gabriel Jean.
Florida Atlantic University, Degree grantor
An, Edgar, Thesis advisor
Type of Resource: text
Genre: Electronic Thesis Or Dissertation
Issuance: monographic
Date Issued: 2000
Publisher: Florida Atlantic University
Place of Publication: Boca Raton, Fla.
Physical Form: application/pdf
Extent: 130 p.
Language(s): English
Summary: This thesis describes a new Inertial Navigation System (INS), designed for use on the latest generation of Autonomous Underwater Vehicle (AUV), the Morpheus AUVs, developed by the Department of Ocean Engineering. The INS makes use of a high precision Inertial Measurement Unit (IMU) along with a Doppler Velocity Log (DVL), a GPS/DGPS system and a flux gate magnetic compass to estimate the position of the vehicle during a mission. Extensive data processing methods are used in order to reduce the sources of error most critical to the navigation estimation. Accelerometers and gyroscopes are used to estimate the vehicle attitude in a complementary filter; a standard Kalman filter performs yaw rate bias estimation, whereas a second, extended Kalman filter, provides position estimation of the vehicle in real time, while also correcting for heading errors. Overall the INS is capable of providing the Morpheus with 1% navigation accuracy over an hour.
Identifier: 9780599813731 (isbn), 12682 (digitool), FADT12682 (IID), fau:9564 (fedora)
Collection: FAU Electronic Theses and Dissertations Collection
Note(s): College of Engineering and Computer Science
Thesis (M.S.E.)--Florida Atlantic University, 2000.
Subject(s): Oceanographic submersibles--Computer simulation
Underwater navigation
Held by: Florida Atlantic University Libraries
Persistent Link to This Record: http://purl.flvc.org/fcla/dt/12682
Sublocation: Digital Library
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.