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dc.contributor.advisorChristopher Dever and Michael Triantafyllou.en_US
dc.contributor.authorMiddlebrook, Danica Leeen_US
dc.contributor.otherMassachusetts Institute of Technology. Dept. of Mechanical Engineering.en_US
dc.date.accessioned2008-09-03T15:35:52Z
dc.date.available2008-09-03T15:35:52Z
dc.date.copyright2007en_US
dc.date.issued2007en_US
dc.identifier.urihttp://hdl.handle.net/1721.1/42416
dc.descriptionThesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2007.en_US
dc.descriptionIncludes bibliographical references (p. 73-75).en_US
dc.description.abstractUnmanned 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.statementofresponsibilityby Danica Lee Middlebrook.en_US
dc.format.extent75 p.en_US
dc.language.isoengen_US
dc.publisherMassachusetts Institute of Technologyen_US
dc.rightsM.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.urihttp://dspace.mit.edu/handle/1721.1/7582en_US
dc.subjectMechanical Engineering.en_US
dc.titleBearings-only tracking automation for a single unmanned underwater vehicleen_US
dc.typeThesisen_US
dc.description.degreeS.M.en_US
dc.contributor.departmentMassachusetts Institute of Technology. Dept. of Mechanical Engineering.en_US
dc.identifier.oclc237797318en_US


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