Show simple item record

dc.contributor.authorKinsey, James C.
dc.date2004/2005
dc.date.accessioned2017-10-25T19:18:42Z
dc.date.available2017-10-25T19:18:42Z
dc.date.issued2005
dc.identifier.citationKinsey, Jmes C.(2005).Advances in In-Situ Calibration of Attitude and Doppler Sensors for Precision Oceanographic Submersible Navigation.(Link Foundation Fellowship Final Reports: Ocean Engineering and Instrumentation Program.) Retrieved from The Scholarship Repository of Florida Institute of Technology website: https://repository.lib.fit.edu/en_US
dc.identifier.urihttp://hdl.handle.net/11141/2126
dc.descriptionupdate rate, navigation techniques, precision, underwater vehiclesen_US
dc.description.abstractThis paper reviews the development and experimental evaluation of three techniques for estimating the alignment matrix of Doppler sonars, which are commonly used for precision navigation of oceanographic submersibles, employing sensors commonly employed aboard these vehicles. Most previously reported methods addressed the problem of single degree of freedom alignment using bottom-lock Doppler sonar data and global positioning system (GPS) navigation data. This paper reviews three techniques for three degree of freedom calibration of attitude and Doppler sonar sensors, using sensor data available to vehicles at full ocean depth. The first technique provides a general linear least-square estimate of the alignment matrix. The second technique is a least-squares estimate that results in an alignment matrix estimate belonging to the group of special orthogonal matrices. The third technique is a novel adaptive identifier that constrains the estimate to the group of special orthogonal matrices. The performance of these estimates is evaluated with a laboratory remotely operated vehicle (ROV) and a field deployed autonomous underwater vehicle (AUV). Experimental results are reported which demonstrate that Doppler navigation employing the reported alignment methods significantly improves navigation precision. The latter techniques provide calibration estimates which improve Doppler navigation precision not only on the calibration data set itself, but also improve precision over a wide variety of vehicle trajectories other than the calibration data set.en_US
dc.language.isoen_USen_US
dc.rights© 2016. the authoren_US
dc.rights.urihttps://repository.lib.fit.edu/handle/11141/1665en_US
dc.titleAdvances in In-Situ Calibration of Attitude and Doppler Sensors for Precision Oceanographic Submersible Navigationen_US
dc.typeTechnical Reporten_US
thesis.degree.levelDoctoral
thesis.degree.disciplineMechanical Engineering
thesis.degree.grantorJohns Hopkins University


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record