Note
College of Engineering and Computer Science
Member of
Contributors
Publisher
Florida Atlantic University
Date Issued
2001
Description
This thesis describes an automated post-processing tool, designed for use on navigational data gathered by Autonomous Underwater Vehicles (AUVs), developed and operated by the Department of Ocean Engineering at Florida Atlantic University. The post-processing tool consists of a 9-state complementary Kalman filter in conjunction with a Rauch-Tung-Striebel (RTS) smoothing algorithm. The Kalman filter is run forward in time to merge navigational data from an Inertial Measurement Unit (IMU), a Doppler Velocity Log (DVL), a magnetic compass, a GPS/DGPS system and an Ultrashort Baseline (USBL) tracking system. Subsequently, the RTS smoothing algorithm is run backwards in time to find and compensate for drift errors in dead reckoned position and compass measurement error. The post-processing tool has been implemented as a graphical user interface, designed in MATLAB. Improved accuracy in post-processed position and heading has been verified by conducting sea trials and post-processing the collected data.
Language
Type
Form
Extent
191 p.
Subject (Topical)
Identifier
9780493098012
ISBN
9780493098012
Additional Information
College of Engineering and Computer Science
FAU Electronic Theses and Dissertations Collection
Thesis (M.S.)--Florida Atlantic University, 2001.
Date Backup
2001
Date Text
2001
Date Issued (EDTF)
2001
Extension
FAU
FAU
admin_unit="FAU01", ingest_id="ing1508", creator="staff:fcllz", creation_date="2007-07-18 21:49:56", modified_by="staff:fcllz", modification_date="2011-01-06 13:08:49"
IID
FADT12752
Issuance
monographic
Organizations
Attributed name: Florida Atlantic University
Person Preferred Name
Gustafson, Einar Irgens.
Graduate College
Physical Description
191 p.
application/pdf
Title Plain
post-processing Kalman smoother for underwater vehicle navigation
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.
http://rightsstatements.org/vocab/InC/1.0/
Origin Information
2001
monographic
Boca Raton, Fla.
Florida Atlantic University
Physical Location
Florida Atlantic University Libraries
Place
Boca Raton, Fla.
Sub Location
Digital Library
Title
post-processing Kalman smoother for underwater vehicle navigation
Other Title Info
A
post-processing Kalman smoother for underwater vehicle navigation