Approved for public release; distribution is unlimited / 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 executes to compare combinations of equipment with different levels of accuracy.
| Identifer | oai:union.ndltd.org:nps.edu/oai:calhoun.nps.edu:10945/23594 |
| Date | 09 1900 |
| Creators | Nagengast, Steve |
| Contributors | Cristi, Roberto, Titus, Harold A., Naval Postgraduate School (U.S.), Department of Electrical and Computer Engineering |
| Publisher | Monterey, California. Naval Postgraduate School |
| Source Sets | Naval Postgraduate School |
| Language | en_US |
| Detected Language | English |
| Type | Thesis |
| Rights | This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. As such, it is in the public domain, and under the provisions of Title 17, United States Code, Section 105, it may not be copyrighted. |
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