At the Naval Postgraduate School (NPS), a small AUV navigation system (SANS) has been developed for research in support of shallow-water mine countermeasures and coastal environmental monitoring. The objective of this thesis is to develop a new version of SANS, aimed at reducing size and increasing reliability by utilizing state-of-the-art hardware components. The new hardware configuration uses a PC/104 computer system, and a Crossbow DMU-VG Six-Axis Inertial Measurement Unit (IMU). The PC/104 computer provides more computing power and more importantly, increases the reliability and compatibility of the system. Replacing the old IMU with a Crossbow IMU' eliminates the need for an analog-to-digital (A/D) converter, and thus reduces the overall size of the SANS. The new hardware components are integrated into a working system. A software interface is developed for each component. An asynchronous Kalman filter is implemented in the current SANS system as a navigation filter. Bench testing is conducted and indicates that the system works properly. The new components reduce the size of the system by 52% and increase the sampling rate to more than 80Hz.
| Identifer | oai:union.ndltd.org:nps.edu/oai:calhoun.nps.edu:10945/13575 |
| Date | 03 1900 |
| Creators | Akyol, Kadir |
| Contributors | Yun, Xiaoping, Bachmann, Eric R. |
| Publisher | Monterey, California: Naval Postgraduate School |
| Source Sets | Naval Postgraduate School |
| Language | en_US |
| Detected Language | English |
| Type | Thesis |
| Rights | Approved for public release, distribution unlimited. |
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