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Bearings-only tracking automation for a single unmanned underwater vehicle

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dc.contributor.advisor Christopher Dever and Michael Triantafyllou. en_US
dc.contributor.author Middlebrook, Danica Lee en_US
dc.contributor.other Massachusetts Institute of Technology. Dept. of Mechanical Engineering. en_US
dc.date.accessioned 2008-09-03T15:35:52Z
dc.date.available 2008-09-03T15:35:52Z
dc.date.copyright 2007 en_US
dc.date.issued 2007 en_US
dc.identifier.uri http://hdl.handle.net/1721.1/42416
dc.description Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2007. en_US
dc.description Includes bibliographical references (p. 73-75). en_US
dc.description.abstract Unmanned underwater vehicles have various missions within civilian, military and academic sectors. They have the ability to explore areas unavailable to manned assets and to perform duties that are risky to humans. In particular, UUVs have the ability to perform bearings-only tracking in shallow areas near shorelines. This thesis presents a guidance algorithm for this particular mission. This thesis first presents a Modified Polar Extended Kalman Filter for the estimation problem. Bearings-only tracking is a nonlinear problem that requires some sort of estimator to determine the target state. The guidance algorithm is developed based on the relative positions of the observer and the target. In order to develop the guidance algorithm, the effectiveness of a variety of course maneuvers are presented. The effectiveness of these maneuvers are analyzed both quantitatively and qualitatively. The results from this analysis is incorporated into the final guidance algorithm. This thesis also evaluates the developed guidance algorithm through a series of simulation experiments. The experiments explore a variety of scenarios by varying speed, geometry and acoustic environment. The results of the experiments are analyzed based on estimation errors and detection time. The final conclusions indicate that some of the geometries are more favorable than others. In addition, the degree of noise in the acoustic environment affects the range of the UUV's sensors and the UUV's ability to perform bearings-only tracking for an extended period of time. In addition, the desired speed ratio is one in which the observer is either the same speed as or slower than the target. en_US
dc.description.statementofresponsibility by Danica Lee Middlebrook. en_US
dc.format.extent 75 p. en_US
dc.language.iso eng en_US
dc.publisher Massachusetts Institute of Technology en_US
dc.rights M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. en_US
dc.rights.uri http://dspace.mit.edu/handle/1721.1/7582 en_US
dc.subject Mechanical Engineering. en_US
dc.title Bearings-only tracking automation for a single unmanned underwater vehicle en_US
dc.type Thesis en_US
dc.description.degree S.M. en_US
dc.contributor.department Massachusetts Institute of Technology. Dept. of Mechanical Engineering. en_US
dc.identifier.oclc 237797318 en_US


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