Incorporation of GPS/INS into Small Autonomous Underwater Vehicle Navigation

Abstract

Navigation of an Autonomous Underwater Vehicle (AUV) is a problem that has not been adequately solved. Although the inclusion of the Global Positioning System (GPS) into AUV navigation has been briefly examined before, this possibility is explored further in this thesis. GPS and Inertial Measurement System (INS) based navigation package offers many advantages for AUV navigation especially for transits and precise object location in shallow water. This thesis provides background information on GPS and INS as they pertain to small AUV employment. Other required components are also examined as they pertain to small AUV employment. The use of the GPS/INS navigation package for AUV transits and precise object location work is presented. Two designs with specified components are developed. A GPS receiver was tested for AUV employment suitability. These test results are presented and analyzed. Autonomous underwater vehicles, Global positioning system, Inertial measurement system.

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Document Details

Document Type
Technical Report
Publication Date
Mar 01, 1992
Accession Number
ADA248884

Entities

People

  • James B. Mckeon

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Autonomy
  • Energy and Power Technologies
  • Space
  • Weapons Technologies

DTIC Thesaurus Topics

  • Accuracy
  • Autonomous Underwater Vehicles
  • Computer Science
  • Computers
  • Coordinate Systems
  • Dead Reckoning
  • Guidance
  • Inertial Measurement Units
  • Inertial Navigation
  • Inertial Navigation Systems
  • Measurement
  • Navigation
  • Navigational Equipment
  • Test And Evaluation
  • Three Dimensional
  • Underwater Vehicles
  • United States

Readers

  • Acoustical Oceanography.
  • Positioning, Navigation, and Timing (PNT) Technology.
  • Systems Analysis and Design

Technology Areas

  • Space
  • Space - Spacecraft Maneuvers