Accession Number : ADA257329


Title :   Correction of Inertial Measurements Using GPS Updates for Underwater Navigation


Descriptive Note : Master's thesis


Corporate Author : NAVAL POSTGRADUATE SCHOOL MONTEREY CA


Personal Author(s) : Nagengast, Steve


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/a257329.pdf


Report Date : Sep 1992


Pagination or Media Count : 104


Abstract : An Autonomous Underwater Vehicle (AUV) can combine a Global Positioning System (GPS) receiver with an Inertial Navigation System (INS) to navigate with a specified accuracy level. The AUV would be required to surface periodically to obtain a GPS fix. A computer simulation has been developed using an AUV model and an INS error model to generate noisy measurements. A Kalman filter is used to estimate the simulated INS errors. Several runs were executed to compare combinations of equipment with different levels of accuracy. Navigation, Global Position System, Kalman Filter, Underwater Vehicles, Inertial Navigation.


Descriptors :   *GLOBAL POSITIONING SYSTEM , *INERTIAL NAVIGATION , *UNDERWATER NAVIGATION , SIMULATION , MEASUREMENT , GLOBAL , UNDERWATER VEHICLES , MODELS , RECEIVERS , VEHICLES , UNDERWATER , INERTIAL MEASUREMENT UNITS , FILTERS , ERRORS , COMPUTERS , ACCURACY , ESTIMATES , SURFACES , NAVIGATION


Subject Categories : Underwater and Marine Navigation and Guidance


Distribution Statement : APPROVED FOR PUBLIC RELEASE