Show simple item record

dc.contributor.advisorJohn J. Leonard.en_US
dc.contributor.authorPapadopoulos, Geōrgiosen_US
dc.contributor.otherMassachusetts Institute of Technology. Dept. of Mechanical Engineering.en_US
dc.date.accessioned2011-04-25T16:14:36Z
dc.date.available2011-04-25T16:14:36Z
dc.date.copyright2010en_US
dc.date.issued2010en_US
dc.identifier.urihttp://hdl.handle.net/1721.1/62531
dc.descriptionThesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2010.en_US
dc.descriptionCataloged from PDF version of thesis.en_US
dc.descriptionIncludes bibliographical references (p. 79-83).en_US
dc.description.abstractThis thesis investigates the problem of cooperative navigation of autonomous marine vehicles using range-only acoustic measurements. We consider the use of a single maneuvering autonomous surface vehicle (ASV) to aid the navigation of one or more submerged autonomous underwater vehicles (AUVs), using acoustic range measurements combined with position measurements for the ASV when data packets are transmitted. The AUV combines the data from the surface vehicle with its proprioceptive sensor measurements to compute its trajectory. We present an experimental demonstration of this approach, using an extended Kalman filter (EKF) for state estimation. We analyze the observability properties of the cooperative ASV/AUV localization problem and present experimental results comparing several different state estimators. Using the weak observability theorem for nonlinear systems, we demonstrate that this cooperative localization problem is best attacked using nonlinear least squares (NLS) optimization. We investigate the convergence of NLS applied to the cooperative ASV/AUV localization problem. Though we show that the localization problem is non-convex, we propose an algorithm that under certain assumptions (the accumulative dead reckoning variance is much bigger than the variance of the range measurements, and that range measurement errors are bounded) achieves convergence by choosing initial conditions that lie in convex areas. We present experimental results for this approach and compare it to alternative state estimators, demonstrating superior performance.en_US
dc.description.statementofresponsibilityby Georgios Papadopoulos.en_US
dc.format.extent83 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.titleUnderwater vehicle localization using range measurementsen_US
dc.typeThesisen_US
dc.description.degreeS.M.en_US
dc.contributor.departmentMassachusetts Institute of Technology. Dept. of Mechanical Engineering.en_US
dc.identifier.oclc712947489en_US


Files in this item

Thumbnail

This item appears in the following Collection(s)

Show simple item record