The Design of a Navigator for a Testbed Autonomous Underwater Vehicle

Abstract

Autonomous Underwater Vehicles (AUV) are a subject of study at the Naval Postgraduate School (NPS). This thesis discusses the formulation of a navigator for the Testbed AUV being constructed at NPS. The navigator being proposed estimates the position of the vehicle using measurable dynamic parameters. The estimate is refined by an observation of position using sonar. The effects of set, drift and sonar noise are minimized using a filter. A simulation to test the AUV is also provided to test the effectiveness of the navigator through a range of noise environments. The simulation is an extension of the work of LT C.A. Hartley who modeled a more complex sonar to detect motion over the ground for a station keeping AUV (ada 196 957).

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Document Details

Document Type
Technical Report
Publication Date
Dec 01, 1989
Accession Number
ADA231733

Entities

People

  • John R. Friend

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Autonomy
  • Sensors
  • Weapons Technologies

DTIC Thesaurus Topics

  • Artificial Intelligence
  • Autonomous Underwater Vehicles
  • C Programming Language
  • Collision Avoidance
  • Computer Science
  • Computer Simulations
  • Databases
  • Guidance
  • Inertial Navigation
  • Kalman Filters
  • Measurement
  • Motion Planning
  • Navigation
  • Navigators
  • Simulations
  • Underwater Vehicles
  • Vehicles

Readers

  • Positioning, Navigation, and Timing (PNT) Technology.
  • Robotics and Automation.