Model
Digital Document
Publisher
Florida Atlantic University
Description
The primary objective of this research is to investigate the viability of magnetic
anomaly localization with an autonomous underwater vehicle, using a genetic algorithm
(GA). The localization method, first proposed by Sheinker. et al. 2008, is optimized here
for the case of a moving platform. Extensive magnetic field modeling and algorithm
simulation has been conducted and yields promising results. Field testing of the method is
conducted with the use of the Ocean Floor Geophysics Self-Compensating Magnetometer
(SCM). Extensive out-of-water field testing is conducted to validate the ability to
measure a target signal in a uniform NED frame as well as to validate the effectiveness of
the GA. The outcome of the simulation closely matches the results of the conducted field
tests. Additionally, the SCM is fully integrated with FAU’s Remus 100 AUV and
preliminary in-water testing of the system has been conducted.
anomaly localization with an autonomous underwater vehicle, using a genetic algorithm
(GA). The localization method, first proposed by Sheinker. et al. 2008, is optimized here
for the case of a moving platform. Extensive magnetic field modeling and algorithm
simulation has been conducted and yields promising results. Field testing of the method is
conducted with the use of the Ocean Floor Geophysics Self-Compensating Magnetometer
(SCM). Extensive out-of-water field testing is conducted to validate the ability to
measure a target signal in a uniform NED frame as well as to validate the effectiveness of
the GA. The outcome of the simulation closely matches the results of the conducted field
tests. Additionally, the SCM is fully integrated with FAU’s Remus 100 AUV and
preliminary in-water testing of the system has been conducted.
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