Sonar based navigation of an autonomous underwater vehicle

Sonar based navigation of an autonomous underwater vehicle

A navigation algorithm to navigate an AUV within a charted environment is presented. The algorithm uses sonar range measurements and incorporates them with a potential function which defines the map of the operation area. Extended Kalman filtering is used in the algorithm. Least squares techniques a...

Full description

Bibliographic Details
Main Author: Kayirhan, Alp.
Other Authors: Cristi, Roberto
Language:en_US
Published: Monterey, California. Naval Postgraduate School 2013
Online Access:http://hdl.handle.net/10945/28550
id ndltd-nps.edu-oai-calhoun.nps.edu-10945-28550
record_format oai_dc
spelling ndltd-nps.edu-oai-calhoun.nps.edu-10945-285502014-11-27T16:17:30Z Sonar based navigation of an autonomous underwater vehicle Kayirhan, Alp. Cristi, Roberto NA NA Engineering Science Electrical Engineering A navigation algorithm to navigate an AUV within a charted environment is presented. The algorithm uses sonar range measurements and incorporates them with a potential function which defines the map of the operation area. Extended Kalman filtering is used in the algorithm. Least squares techniques are used in the estimation of system parameters. The algorithm is tested by both computer generated data and actual data collected from the vehicle NPS AUVII during tests in a water tank. Fixed interval smoothing is applied in order to smooth the estimates produced by the Kalman filter. The effects of currents in the operation area are sought. An approach based on backpropagation neural networks for the navigation algorithm is also presented. Throughout the simulation studies the algorithm yields a robust and reliable solution to the navigation problem of AUV's 2013-02-15T23:33:58Z 2013-02-15T23:33:58Z 1994-12 Thesis http://hdl.handle.net/10945/28550 o640610729 en_US Monterey, California. Naval Postgraduate School
collection NDLTD
language en_US
sources NDLTD
description A navigation algorithm to navigate an AUV within a charted environment is presented. The algorithm uses sonar range measurements and incorporates them with a potential function which defines the map of the operation area. Extended Kalman filtering is used in the algorithm. Least squares techniques are used in the estimation of system parameters. The algorithm is tested by both computer generated data and actual data collected from the vehicle NPS AUVII during tests in a water tank. Fixed interval smoothing is applied in order to smooth the estimates produced by the Kalman filter. The effects of currents in the operation area are sought. An approach based on backpropagation neural networks for the navigation algorithm is also presented. Throughout the simulation studies the algorithm yields a robust and reliable solution to the navigation problem of AUV's
author2 Cristi, Roberto
author_facet Cristi, Roberto
Kayirhan, Alp.
author Kayirhan, Alp.
spellingShingle Kayirhan, Alp.
Sonar based navigation of an autonomous underwater vehicle
author_sort Kayirhan, Alp.
title Sonar based navigation of an autonomous underwater vehicle
title_short Sonar based navigation of an autonomous underwater vehicle
title_full Sonar based navigation of an autonomous underwater vehicle
title_fullStr Sonar based navigation of an autonomous underwater vehicle
title_full_unstemmed Sonar based navigation of an autonomous underwater vehicle
title_sort sonar based navigation of an autonomous underwater vehicle
publisher Monterey, California. Naval Postgraduate School
publishDate 2013
url http://hdl.handle.net/10945/28550
work_keys_str_mv AT kayirhanalp sonarbasednavigationofanautonomousunderwatervehicle
_version_ 1716725044237828096

Similar Items