This project will create a navigation system based on dead reckoning using anaccelerometer and a magnetometer. There have previously been several studiesmade on navigation with accelerometers, magnetometers (electronic compass) andgyros. With these three components it is possible to do positioning and differentkinds of movement analyses. There are several methods for detection of movementand calculation of position. To achieve greater accuracy in these applications,gyros are often used. Compared to magnetometers and accelerometer gyrosconsumes a lot of power. In an embedded system with limited power suppliesfrom a battery this may be unacceptable. In this project a positioning system without a gyro have been developedand evaluated. Is this possible to do, and what accuracy is possible to achieve arequestions asked.Algorithms have been developed and tested in MATLAB. The project is based ona device called a BeeBadge, part of the project will be to transfer the developedalgorithms from MATLAB to C-code. Optimizations of the code will be performeddue to the constraints in the memory and speed of the microcontroller on theBeeBadge.

This master thesis is a study on how a rategyro triad, an accelerometer triad, and a magnetometer triad can be integrated into a navigation system, estimating a vehicle’s attitude, i.e. its roll, tipp, and heading angles. When only a rategyro triad is used to estimate a vehicle’s attitude, a drift in the attitude occurs due to sensor errors. When an accelerometer triad and a magnetometer triad are used, an error in the vehicle’s heading, appearing as a sine curve, depending on the heading, occurs. By integrating these sensor triads, the sensor errors have been estimated with a filter to improve the estimated attitude’s accuracy. To investigate and evaluate the navigation system, a simulation model has been developed in Simulink/Matlab. The implementation has been made using a Kalman filter where the sensor fusion takes place. Simulations for different scenarios have been made and the results from these simulations show that the drift in the vehicle’s attitude is avoided.

Magnetic survey is a common geophysical exploration technique. By measuring the magnetic field strength at specific area, the characteristics and physical meaning of the target can be obtained through the analysis of the Earth's magnetic field anomalies within a stratigraphic zone or archaeological sites. In recent years, the marine magnetometer is employed to conduct underwater archaeological expedition at surrounding waters of Taiwan for ancient shipwrecks researching. The purpose of this study is to understand the relationship between the magnetic anomalies with the magnetic object via the various signal processing methods, included the calculation horizontal and vertical derivatives using fast Fourier transform (FFT) to eliminate the regional magnetic influence and gain the anomalies characteristics of the target itself, as well as highlight the location and boundaries of the magnetic source through the analytical signal. In addition, the Euler deconvolution implements as a tool for magnetic source inversion. The theory of Euler deconvolution was first proposed by Thompson (1982), this method is able to detect the magnetic source and estimate its locations by choosing the suitable structural index. Hsu (2002) proposed the enhanced Euler deconvolution, which is a combined inversion for structural index and source location through the use of the vertical derivative of measured data.In this study, we first generate various anomalies as testing models which are correspond with different geometric shape of magnetic source, the position and structural index for model is inversed by enhanced Euler deconvolution in both 2D and 3D.Moreover, the experiment was planned at offshore of Dalinpu in Kaohsiung, we took the CPC's pipelines as investigation objects which were buried under the seabed, than compare with sub-bottom profiler data to assess the feasibility of this method for underwater exploring applications.The most estimated results in 2D are correspond to the theory, but it does not have significant results in 3D due to the lack of observed data for the whole surface.In general, this method is concise and fast, it is fit for interpreting the magnetic data for exploring the underwater object.

The application of underwater search and identification technology has been widely used in the underwater engineering. There are two major fields in this thesis: monitoring of underwater structures and analysis of upper-layer geological properties of seabed. The former focus on the cooperation of these three major equipments: sidescan sonar, sub-bottom profiler, and marine magnetometer to improve the ability of identification. The latter analyzes the image displayed by the sub-bottom profiler to set up the data base of different environments and equipments. Finally, it is illustrated that the difference between the actual position and the data position exists in equipment with a tow fish style to refine the search technology and predict the real position. This thesis will demonstrate the monitoring of underwater structures, analysis of upper-layer geological properties of seabed, and the position error of underwater targets to discuss and improve the capability of the underwater search and identification technology.

In this thesis, the integration of a MEMS based inertial measurement unit and a three axis solid state magnetometer are studied. It is a fact that unaided inertial navigation systems, especially low cost MEMS based navigation systems have a divergent behavior. Nowadays, many navigation systems use GPS aiding to improve the performance, but GPS may not be applicable in some cases. Also, GPS provides the position and velocity reference whereas the attitude information is extracted through estimation filters. An alternative reference source is a three axis magnetometer, which provides direct attitude measurements. In this study, error propagation equations of an inertial navigation system are derived / measurement equations of magnetometer for Kalman filtering are developed / the unique method to self align the MEMS navigation system is developed. In the motion estimation, the performance of the developed algorithms are compared using a GPS aided system and magnetometer aided system. Some experiments are conducted for self alignment algorithms.

For several decades, the field of magneto-optics (MO) has demonstrated applications that have impact on every day applications such as in optical data storage, magnetic field sensing, crucial for magnetoencephalography and magnetocardiography; and compact and efficient optical isolators, among others. In the past, many of these applications and the devices designed for them have heavily relied on inorganic materials. Organic materials with a high MO response represent an interesting alternative to the inorganic equivalent by not only being a more cost efficient solution, but also by allowing the user to modify a number of variables to control and optimize the MO performance depending on the application and level of performance desired. In this dissertation I discuss the MO properties of novel organic materials, starting with polythiophene, which has been of interest due to the strong relationship between its high MO performance and its lamellar structure and regioregularity. I will also be discussing another material system that provides several degrees of MO tunability: magnetite based nanocomposites. A unique and novel synthetic approach described in this dissertation yields both highly transparent and MO responsive polymer films. I will be describing a systematic approach that indicates a strong influence of the size of the nanoparticle as well as the nanoparticle concentration in the MO performance of the bulk polymer, while maintaining high optical quality with minimal scattering and absorption in the visible and near infrared. Finally, I will be discussing the implementation of both a magnetite nanocomposite and a cobalt ferrite based nanocomposite in a free space magnetic field system and demonstrate the proof-of-principle operation of a sensing system.

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Thesis (MScEng)--University of Stellenbosch, 2002. / ENGLISH ABSTRACT: High-temperature (HTc) SQUID magnetometers are used in the biomedical field of magnetocardiography (MCG). The use of MCG enables a much earlier diagnosis of potentially dangerous conditions than the use of electrocardiography (EeG). For the use of MCG, high-quality HTc SQUIDs are necessary. These SQUIDs can only be realised if the design and fabrication processes are well defined and understood. In this thesis an extensive literature review on the design process explains all the concepts necessary to understand and design a high-quality HTc SQUID. Then the fabrication process is redefined and characterised. The SQUIDs are fabricated with YBCO thin films on MgO substrates. The relevant steps in the process are the pulsed laser deposition (PLD), UV lithography and argon ion milling. The characterisation of the fabrication process is based on a statistical method called Design of Experiment (DOE). This enables more information to be obtained about the fabrication process than before. For the PLO process the important parameters are determined and an initial optimisation is done. During the characterisation process it is proven that the use of ozone during PLO has a positive effect on the quality of the YBCO thin film. On the PLD apparatus the substrate heater and laser-beam profile is improved. The UV lithography process is analysed and a DOE is proposed for optimisation. A temperature bath is added to the process to enable better reproducibility. An rf multicusp ion mill is built for argon-ion milling, this device is tested and shown to provide the required etching capability. / AFRIKAANSE OPSOMMING: Hoë-temperatuur (HTc) SQUID magnetometers word in die biomediese rigting vir magnetokardiografie (MKG) gebruik. Met MKG kan 'n mens potensieel gevaarlike toestande heelwat vroeër diagnoseer as wat moontlik is met elektrokardiografie (EKG). HTc SQUIDs van hoë kwaliteit word benodig vir MKG. Sulke SQUIDs kan slegs vervaardig word as die vervaardiging en ontwerpsprosesse goed gedefinieer en verstaan word. In hierdie tesis verduidelik 'n omvattende literatuurstudie oor die ontwerpsproses al die konsepte wat nodig is om 'n SQUID van hoë kwaliteit te verstaan en te ontwerp. Verder word die vervaardigingsproses geherdefinieer en gekarakteriseer. Die SQUIDs word vervaardig met YBCO-dunfilm op MgO-substrate. Die relevante stappe tydens die vervaardiging is: gepulseerde laser deposisie (PLO), UV-litografie en argon-ioonstraling. Die karakterisering van die vervaardigingsproses is gebaseer op 'n statistiese metode genaamd "Design of Experiment" (DOE). Hierdie metode laat 'n mens toe om meer inligting oor die proses te verkry as wat voorheen moontlik was. Gedurende die karakterisering word bewys dat die gebruik van osoon gedurende die PLO-proses 'n positiewe invloed op die kwaliteit van die YBCO-dunfilm het. Die PLO-apparaat se substraatverwarmer en laserstraalprofiel word verbeter. Die UV-litografieproses word geanaliseer en 'n DOE word voorgestel vir die optimisering daarvan. Daar word 'n temperatuurbad by die proses gevoeg om die herhaalbaarheid te verbeter. 'n "Rf multicusp ion mill" word gebou, die toestel word getoets en daar word aangetoon dat dit die nodige etsvermoë het.