Note
College of Engineering and Computer Science
Member of
Contributors
Publisher
Florida Atlantic University
Date Issued
2007
EDTF Date Created
2007
Description
A Motion Compensated (MC) Ultra Short Baseline (USBL) Acoustic Positioning
System (APS) operable in shallow water and port environment has been implemented at
Florida Atlantic University. Multi-tones signal modulation and log-likelihood
maximization enable this APS to operate in volumes of water of less than 10 cubic
meters. Standard deviations of the acoustic source elevation and azimuth estimates were
computed to be 3 degrees in an 8 cubic meters test tank, and reduce to 0.9 degree in a 2
meters deep marina. The motion compensating system estimates the array position and
orientation while merging noisy measurements from a Magnetic, Angular Rate, and
Gravity (MARG) sensor and a Differential Global Positioning System (DGPS) using
Kalman filters. Experiments show 0.67 and 2.67 degrees of error for the array tilt and
heading estimates, and 0.74 meter for the array position estimate.
System (APS) operable in shallow water and port environment has been implemented at
Florida Atlantic University. Multi-tones signal modulation and log-likelihood
maximization enable this APS to operate in volumes of water of less than 10 cubic
meters. Standard deviations of the acoustic source elevation and azimuth estimates were
computed to be 3 degrees in an 8 cubic meters test tank, and reduce to 0.9 degree in a 2
meters deep marina. The motion compensating system estimates the array position and
orientation while merging noisy measurements from a Magnetic, Angular Rate, and
Gravity (MARG) sensor and a Differential Global Positioning System (DGPS) using
Kalman filters. Experiments show 0.67 and 2.67 degrees of error for the array tilt and
heading estimates, and 0.74 meter for the array position estimate.
Language
Type
Form
Extent
172 p.
Subject (Topical)
Identifier
FA00012507
Additional Information
College of Engineering and Computer Science
Thesis (M.S.)--Florida Atlantic University, 2007.
FAU Electronic Theses and Dissertations Collection
Date Backup
2007
Date Created Backup
2007
Date Text
2007
Date Created (EDTF)
2007
Date Issued (EDTF)
2007
Extension
FAU
IID
FA00012507
Organizations
Attributed name: Florida Atlantic University
Person Preferred Name
Bon, Antoine
Graduate College
Physical Description
application/pdf
172 p.
Title Plain
Motion Compensation of an Ultra Short Baseline Array for the Acoustic Positioning of an Underwater Vehicle for Port Operations
Use and Reproduction
Copyright © is held by the author with permission granted to Florida Atlantic University to digitize, archive and distribute this item for non-profit research and educational purposes. Any reuse of this item in excess of fair use or other copyright exemptions requires permission of the copyright holder.
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Origin Information
2007
2007
Florida Atlantic University
Boca Raton, Fla.
Physical Location
Florida Atlantic University Libraries
Place
Boca Raton, Fla.
Sub Location
Digital Library
Title
Motion Compensation of an Ultra Short Baseline Array for the Acoustic Positioning of an Underwater Vehicle for Port Operations
Other Title Info
Motion Compensation of an Ultra Short Baseline Array for the Acoustic Positioning of an Underwater Vehicle for Port Operations