Incorporation of GPS/INS into Small Autonomous Underwater Vehicle Navigation
NAVAL POSTGRADUATE SCHOOL MONTEREY CA DEPT OF COMPUTER SCIENCE
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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 GPSINS 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.
- Submarine Engineering
- Underwater and Marine Navigation and Guidance