DEVELOPMENT AND METHODOLOGY FOR AUV-BASED GEOMAGNETIC SURVEYS IN SUPPORT OF GEOPHYSICAL NAVIGATION

This thesis investigates geomagnetic survey methodology in support of the development of a geophysical navigation system for an Autonomous Underwater Vehicle (AUV). Traditional AUV navigation methods are susceptible to cumulative errors and often rely on external infrastructure, limiting their effectiveness in complex underwater environments. This research leverages geomagnetic field anomalies as an additional navigational reference to these traditional systems, particularly in the absence of Global Positioning System (GPS) and acoustics navigation systems. Geomagnetic surveys were conducted over known shipwreck sites off the coast of Fort Lauderdale, Florida, to validate the system's ability to detect and map magnetic anomalies. Data from these surveys were processed to develop high-resolution geomagnetic contour maps, which were then analyzed for accuracy, reliability, and modeling in identifying geomagnetic features.