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post-processing Kalman smoother for underwater vehicle navigation

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Date Issued:
2001
Summary:
This thesis describes an automated post-processing tool, designed for use on navigational data gathered by Autonomous Underwater Vehicles (AUVs), developed and operated by the Department of Ocean Engineering at Florida Atlantic University. The post-processing tool consists of a 9-state complementary Kalman filter in conjunction with a Rauch-Tung-Striebel (RTS) smoothing algorithm. The Kalman filter is run forward in time to merge navigational data from an Inertial Measurement Unit (IMU), a Doppler Velocity Log (DVL), a magnetic compass, a GPS/DGPS system and an Ultrashort Baseline (USBL) tracking system. Subsequently, the RTS smoothing algorithm is run backwards in time to find and compensate for drift errors in dead reckoned position and compass measurement error. The post-processing tool has been implemented as a graphical user interface, designed in MATLAB. Improved accuracy in post-processed position and heading has been verified by conducting sea trials and post-processing the collected data.
Title: A post-processing Kalman smoother for underwater vehicle navigation.
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Name(s): Gustafson, Einar Irgens.
Florida Atlantic University, Degree grantor
An, Edgar, Thesis advisor
Type of Resource: text
Genre: Electronic Thesis Or Dissertation
Issuance: monographic
Date Issued: 2001
Publisher: Florida Atlantic University
Place of Publication: Boca Raton, Fla.
Physical Form: application/pdf
Extent: 191 p.
Language(s): English
Summary: This thesis describes an automated post-processing tool, designed for use on navigational data gathered by Autonomous Underwater Vehicles (AUVs), developed and operated by the Department of Ocean Engineering at Florida Atlantic University. The post-processing tool consists of a 9-state complementary Kalman filter in conjunction with a Rauch-Tung-Striebel (RTS) smoothing algorithm. The Kalman filter is run forward in time to merge navigational data from an Inertial Measurement Unit (IMU), a Doppler Velocity Log (DVL), a magnetic compass, a GPS/DGPS system and an Ultrashort Baseline (USBL) tracking system. Subsequently, the RTS smoothing algorithm is run backwards in time to find and compensate for drift errors in dead reckoned position and compass measurement error. The post-processing tool has been implemented as a graphical user interface, designed in MATLAB. Improved accuracy in post-processed position and heading has been verified by conducting sea trials and post-processing the collected data.
Identifier: 9780493098012 (isbn), 12752 (digitool), FADT12752 (IID), fau:9630 (fedora)
Collection: FAU Electronic Theses and Dissertations Collection
Note(s): College of Engineering and Computer Science
Thesis (M.S.)--Florida Atlantic University, 2001.
Subject(s): Kalman filtering
Underwater navigation
Held by: Florida Atlantic University Libraries
Persistent Link to This Record: http://purl.flvc.org/fcla/dt/12752
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.