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Advances in precision navigation of ...

Troni, Giancarlo.

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Advances in precision navigation of underwater vehicles.

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Advances in precision navigation of underwater vehicles./
作者:	Troni, Giancarlo.
面頁冊數:	137 p.
附註:	Source: Dissertation Abstracts International, Volume: 75-02(E), Section: B.
Contained By:	Dissertation Abstracts International75-02B(E).
標題:	Robotics. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3575007
ISBN:	9781303524066

Advances in precision navigation of underwater vehicles.
Troni, Giancarlo.

Advances in precision navigation of underwater vehicles. - 137 p.

Source: Dissertation Abstracts International, Volume: 75-02(E), Section: B.

Thesis (Ph.D.)--The Johns Hopkins University, 2013.

This item must not be sold to any third party vendors.

Ocean exploration is advancing dramatically due to advances in underwater vehicles. However, the multi-million dollar cost of current high-end vehicles typically employed for oceanographic missions limit their widespread use. New low-cost vehicles present a viable alternative for oceanographic exploration but, due to the limited accuracy of their low-cost navigation systems, they are presently limited to missions requiring only low-precision navigation. The goal of this thesis is to develop new methodologies for improving underwater navigation precision for low-cost navigation systems. Contribution to these areas have been demonstrated with simulated, laboratory and at-sea data.

ISBN: 9781303524066Subjects--Topical Terms:

519753
Robotics.

Advances in precision navigation of underwater vehicles.
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245 1 0 $a Advances in precision navigation of underwater vehicles.
300 $a 137 p.
500 $a Source: Dissertation Abstracts International, Volume: 75-02(E), Section: B.
500 $a Adviser: Louis L. Whitcomb.
502 $a Thesis (Ph.D.)--The Johns Hopkins University, 2013.
506 $a This item must not be sold to any third party vendors.
506 $a This item must not be added to any third party search indexes.
520 $a Ocean exploration is advancing dramatically due to advances in underwater vehicles. However, the multi-million dollar cost of current high-end vehicles typically employed for oceanographic missions limit their widespread use. New low-cost vehicles present a viable alternative for oceanographic exploration but, due to the limited accuracy of their low-cost navigation systems, they are presently limited to missions requiring only low-precision navigation. The goal of this thesis is to develop new methodologies for improving underwater navigation precision for low-cost navigation systems. Contribution to these areas have been demonstrated with simulated, laboratory and at-sea data.
520 $a Three common problems in the field are addressed in this thesis. First this thesis reports the development and experimental evaluation of new methods for in-situ calibration of the alignment rotation matrix between Doppler sonar and attitude sensors. Two new methods are developed employing inertial data, depth data, and Doppler sonar data to perform alignment calibration. An advantage to my approach over previous methods is that it does not require expensive sensors external to the vehicle, so the overall calibration effort is reduced.
520 $a The second problem addressed is the dynamically estimation of the gravity vector. A new method is proposed and experimentally evaluated improving the attitude estimation based on low-cost inertial sensors. Based on the vehicle frame velocity from the Doppler sensor, it is possible to accurately estimate the gravity vector, used to calculate pitch and roll attitude of the vehicle, improving the standard solutions.
520 $a The third problem is a novel methodology for estimating the sensor bias of three-axis field sensors (e.g. magnetometers and accelerometers). We report three methods implementing this approach based on batch linear least squares, real time Kalman filter, and real time adaptive identification. Our methods impose less restrictive conditions for the movements of the instrument required for calibration than previously reported methods, do not require knowledge of the direction of the field or the attitude of the instrument, and also ensure convergence for the estimated parameters.
520 $a Improved calibration and attitude estimation methods are shown experimentally to improve the Doppler navigation position estimation when using low-cost sensors. These results may be useful in the development of lower-cost navigation systems for small and low-cost underwater vehicles for oceanographic missions.
590 $a School code: 0098.
650 4 $a Robotics. $3 519753
650 4 $a Ocean engineering. $3 660731
650 4 $a Mechanical engineering. $3 649730
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710 2 $a The Johns Hopkins University. $b Mechanical Engineering. $3 3175788
773 0 $t Dissertation Abstracts International $g 75-02B(E).
790 $a 0098
791 $a Ph.D.
792 $a 2013
793 $a English
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3575007