Current velocity profiling from an autonomous underwater vehicle with the application of Kalman filtering
Name
40799921-MIT.pdf
Description
Full printable version
Size
10.24 MB
Format
Adobe PDF
Checksum (MD5)
935450ebc122ec3abd29a1e9004f26d7
Author(s)
Zhang, Yanwu
Advisor(s)
James G. Bellingham and Arthur B. Baggeroer.
Date Issued
1998
Publisher
Massachusetts Institute of Technology
Abstract
The thesis presents data processing schemes for extracting Earth-referenced current velocity from relative current velocity measurement made by an Acoustic Doppler Current Profiler (ADCP) borne by an Autonomous Underwater Vehicle (AUV). Compared with conventional approaches, current profiling from an AUV platform has advantages including three-dimensional mobility, rapid response, high-level intelligent control, independence from ship motion and weather constraint, and shallow water operation. First, an acausal postprocessing scheme is presented for estimating the AUV's own velocity and removing it from the relative velocity measurement to obtain the true current velocity. Then, a causal scheme for estimating the Earth-referenced current velocity is presented. The causal algorithm is based on an Extended Kalman Filter (EKF) that utilizes the hydrodynamics connecting current velocity to vehicle's motion. In both methods, the raw ADCP measurement is corrected to achieve more accurate current velocity estimate. Field data from the Haro Strait Tidal Front Experiment are processed by both methods. Current velocity estimation results reveal horizontal and vertical velocity structure of the tidal mixing process, and are also consistent with the vehicle's deviated trajectory. The capability of the AUV-borne current profiling system is thus demonstrated.
Description
Thesis (S.M. in Oceanographic Engineering)--Joint Program in Applied Ocean Science and Engineering (Massachusetts Institute of Technology, Dept. of Ocean Engineering; and the Woods Hole Oceanographic Institution); and, (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1998.
Includes bibliographical references (leaves 74-78).
Subjects
Joint Program in Applied Ocean Science and Engineering.
Ocean Engineering.
Woods Hole Oceanographic Institution.
MIT Department
Joint Program in Applied Ocean Physics and Engineering
Woods Hole Oceanographic Institution
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Massachusetts Institute of Technology. Department of Ocean Engineering
Terms of Use
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.
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.
Persistent DSpace Link
