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MEMS IMU navigation with model based dead-reckoning and one-way-travel-time acoustic range measurements for autonomous underwater vehicles

Kepper, James H., IV (2017) MEMS IMU navigation with model based dead-reckoning and one-way-travel-time acoustic range measurements for autonomous underwater vehicles. Masters thesis, California Institute of Technology. http://resolver.caltech.edu/CaltechAUTHORS:20180329-105246888

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Abstract

Recent advances in acoustic navigation methodologies are enabling the way for AUVs to extend their submerged mission time and maintain a bounded XY position error. Additionally, advances in inertial sensor technology have drastically lowered the size, power consumption, and cost of these sensors. Nonetheless, these sensors are still noisy and accrue error over time. This thesis builds on the research and recent developments in single beacon one-way travel-time (OWTT) acoustic navigation and investigates the degree of bounding position error for small AUVs with a minimal navigation strap-down sensor suite, relying mostly on a consumer grade microelectromechanical system (MEMS) inertial measurement unit (IMU) and a vehicle’s dynamic model velocity. An implementation of an Extended Kalman Filter (EKF) that includes IMU bias estimation and coupled with a range filter, is obtained in the field on two OceanServer Technology, Inc. Iver2 AUVs and one Bluefin Robotics SandShark.


Item Type:Thesis (Masters)
Related URLs:
URLURL TypeDescription
https://dx.doi.org/10.1575/1912/9198OrganizationMaster's Thesis
ORCID:
AuthorORCID
Kepper, James H., IV0000-0001-6559-7846
Group:Keck Institute for Space Studies
Record Number:CaltechAUTHORS:20180329-105246888
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20180329-105246888
Official Citation:Kepper, James, "MEMS IMU navigation with model based dead-reckoning and one-way-travel-time acoustic range measurements for autonomous underwater vehicles", 2017-09, DOI:10.1575/1912/9198, https://hdl.handle.net/1912/9198
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:85491
Collection:CaltechAUTHORS
Deposited By: Iryna Chatila
Deposited On:29 Mar 2018 21:13
Last Modified:29 Mar 2018 21:22

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