Navigation of autonomous underwater vehicles (AUVs) in the subsea environment is particularly challenging due to the unavailability of GPS because of rapid attenuation of electromagnetic waves in water. As a result, the AUV requires alternative methods for position estimation. This thesis describes a terrain-aided navigation approach for an AUV where, with the help of a prior depth map, the AUV localizes itself using altitude measurements from a multibeam DVL. The AUV simultaneously builds a probabilistic depth map of the seafloor as it moves to unmapped locations.
The main contribution of this thesis is a new, scalable, and on-line terrain-aided navigation solution for AUVs which does not require the assistance of a support surface vessel. Simulation results on synthetic data and experimental results from AUV field trials in Panama City, Florida are also presented. / Master of Science / Navigation of autonomous underwater vehicles (AUVs) in subsea environment is particularly challenging due to the unavailability of GPS because of rapid attenuation of electromagnetic waves in water. As a result, the AUV requires alternative methods for position estimation. This thesis describes a terrain-aided navigation approach for an AUV where, with the help of a prior depth map, the AUV localizes itself using altitude measurements from a multibeam DVL. The AUV simultaneously builds a probabilistic depth map of the seafloor as it moves to unmapped locations.
The main contribution of this thesis is a new, scalable, and on-line terrain-aided navigation solution for AUVs which does not require assistance of a support surface vessel. Simulation results on synthetic data and experimental results from AUV field trials in Panama City, Florida are also presented.
Identifer | oai:union.ndltd.org:VTETD/oai:vtechworks.lib.vt.edu:10919/78278 |
Date | 28 June 2017 |
Creators | Chowdhary, Abhilash |
Contributors | Electrical and Computer Engineering, Stilwell, Daniel J., Williams, Ryan K., Tokekar, Pratap |
Publisher | Virginia Tech |
Source Sets | Virginia Tech Theses and Dissertation |
Detected Language | English |
Type | Thesis |
Format | ETD, application/pdf |
Rights | In Copyright, http://rightsstatements.org/vocab/InC/1.0/ |
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