Accession Number : ADA305274

Title :   Sensor Based Navigation and Localization Methods for Autonomous Underwater Vehicles.

Descriptive Note : Master's thesis,

Corporate Author : NAVAL POSTGRADUATE SCHOOL MONTEREY CA

Personal Author(s) : Conowitch, Kevin D.

PDF Url : ADA305274

Report Date : JUN 1995

Pagination or Media Count : 103

Abstract : An algorithm designed to navigate an Autonomous Underwater Vehicle (AUV) within a charted environment is presented. The algorithm processes sensor inputs from the AUV high resolution scanning sonar, compass and velocimeter. The operating environment is modeled with a suitable three dimensional potential function and its gradient which form an attractive field. This algorithm provides performance comparable to the Kalman Filter with the advantage of reduced computational requirements facilitated by precomputation and table look up of correction factors. Applications of data smoothing filters and sliding mode theory are also investigated. The applicability and robustness of this approach are demonstrated with actual test data obtained with the NPS Phoenix submersible and extended simulation of complex environments including unmodeled obstacles.

Descriptors :   *AUTONOMOUS NAVIGATION, *UNDERWATER NAVIGATION, *SUBMERSIBLES, ALGORITHMS, REQUIREMENTS, EXPERIMENTAL DATA, COMPUTATIONS, KALMAN FILTERING, THESES, HIGH RESOLUTION, UNMANNED, SELF OPERATION, VELOCIMETERS, CORRECTIONS, SCANNING SONAR.

Subject Categories : Acoustic Detection and Detectors
      Underwater and Marine Navigation and Guidance

Distribution Statement : APPROVED FOR PUBLIC RELEASE