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

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    Kepper_thesis.pdf (16.70Mb)
    Date
    2017-09
    Author
    Kepper, James  Concept link
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    Citable URI
    https://hdl.handle.net/1912/9198
    DOI
    10.1575/1912/9198
    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-waytravel- 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 𝜇AUV. Results from these field trials on Ashumet Pond of Falmouth, Massachusetts, the Charles River of Cambridge, Massachusetts, and Monterey Bay near Santa Cruz, California show a navigation solution accuracy comparable to current standard navigation techniques.
    Description
    Submitted in partial fulfillment of the requirements for the degree of Master of Science at the Massachusetts Institute of Technology and the Woods Hole Oceanographic Institution September 2017
    Collections
    • Applied Ocean Physics and Engineering (AOP&E)
    • WHOI Theses
    Suggested Citation
    Thesis: 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
     

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