ENHANCEMENT OF THE INERTIAL NAVIGATION SYSTEM FOR THE FLORIDA ATLANTIC UNTVERSITY AUTONOMOUS UNDERWATER VEHXCLES

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" ENHANCEMENT OF THE INERTIAL NAVIGATION SYSTEM FOR THE FLORIDA ATLANTIC UNTVERSITY AUTONOMOUS UNDERWATER VEHXCLES "

Document Type	:	Latin Dissertation
Language of Document	:	English
Record Number	:	150935
Doc. No	:	ET22727
Main Entry	:	Gabriel Grenon
Title Proper	:	ENHANCEMENT OF THE INERTIAL NAVIGATION SYSTEM FOR THE FLORIDA ATLANTIC UNTVERSITY AUTONOMOUS UNDERWATER VEHXCLES
Note	:	This document is digital این مدرک بصورت الکترونیکی می باشد
Abstract	:	This thesis describes a new Inertial Navigation System (INS), designed for use on thelatest generation of Autonomous Underwater Vehicle (AUV). the Morpheus AUVs,developed by the Department of Ocean Engineering. The INS makes use of a highprecision Inertial Measurement Unit (MU) along with a Doppler Velocity Log (DVL), aGPS/DGPS system and a flux gate magnetic compass to estimate the position of thevehicle during a mission, Extensive data processing methods are used in order to reducethe sources of error most critical to the navigation estimation. Accelerometers andgyroscopes are used to estimate the vehicle attitude in a complementary filter; a standardKalman filter performs yaw rate bias estimation, whereas a second, extended Kalmanfilter, provides position estimation of the vehicle in real time, while also correcting forheading errors. Overall the INS is capable of providing the Morpheus with 1 navigationaccuracy over an hour.,....-...,..tested for theQ1 PC1 bus cardBoth these projects mere sofixare des elopment efforts tonards contributing to dlfferentaspects of Roboucs and lZ1echatronics projects m the Controls and Roboucs Group..
Subject	:	Electericl tess
	:	برق
electronic file name	:	TL45953.pdf
Title and statement of responsibility and	:	ENHANCEMENT OF THE INERTIAL NAVIGATION SYSTEM FOR THE FLORIDA ATLANTIC UNTVERSITY AUTONOMOUS UNDERWATER VEHXCLES [Thesis]