2026-09-19T03:58:20Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/1137562022-01-14T20:18:10Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
James C. Kinsey.
Kepper, James H., IV
Woods Hole Oceanographic Institution.
Joint Program in Applied Ocean Physics and Engineering
Woods Hole Oceanographic Institution
Massachusetts Institute of Technology. Department of Mechanical Engineering
2018-02-16T20:04:32Z
2018-02-16T20:04:32Z
2017
2017
http://hdl.handle.net/1721.1/113756
1021887525
Thesis: S.M. in Oceanographic Engineering, Joint Program in Applied Ocean Science and Engineering (Massachusetts Institute of Technology, Department of Mechanical Engineering; and the Woods Hole Oceanographic Institution), 2017.
Cataloged from PDF version of thesis.
Includes bibliographical references (pages 83-87).
Recent advances in acoustic navigation methodologies are enabling the way for AUVs to extend their submerged mission time and maintain a bounded XY position error. Additionally, advances in inertial sensor technology have drastically lowered the size, power consumption, and cost of these sensors. Nonetheless, these sensors are still noisy and accrue error over time. This thesis builds on the research and recent developments in single beacon one-way-travel- time (OWTT) acoustic navigation and investigates the degree of bounding position error for small AUVs with a minimal navigation strap-down sensor suite, relying mostly on a consumer grade microelectromechanical system (MEMS) inertial measurement unit (IMU) and a vehicle's dynamic model velocity. An implementation of an Extended Kalman Filter (EKF) that includes IMU bias estimation and coupled with a range filter, is obtained in the field on two OceanServer Technology, Inc. Iver2 AUVs and one Bluefin Robotics SandShark [mu]AUV. Results from these field trials on Ashumet Pond of Falmouth, Massachusetts, the Charles River of Cambridge, Massachusetts, and Monterey Bay near Santa Cruz, California show a navigation solution accuracy comparable to current standard navigation techniques.
by James H. Kepper, IV.
S.M. in Oceanographic Engineering
87 pages
eng
Massachusetts Institute of Technology
MIT theses are protected by copyright. They may be viewed, downloaded, or printed from this source but further reproduction or distribution in any format is prohibited without written permission.
http://dspace.mit.edu/handle/1721.1/7582
Joint Program in Applied Ocean Science and Engineering.
Mechanical Engineering.
Woods Hole Oceanographic Institution.
Sound
Navigation
Submersibles
MEMS IMU inertial measurement unit one-way-travel-time inertial measurement unit autonomous underwater vehicles
Microelectromechanical systems inertial measurement unit OWTT inertial measurement unit AUVs
Thesis
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false
Publication
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<Abstract>Recent advances in acoustic navigation methodologies are enabling the way for AUVs to extend their submerged mission time and maintain a bounded XY position error. Additionally, advances in inertial sensor technology have drastically lowered the size, power consumption, and cost of these sensors. Nonetheless, these sensors are still noisy and accrue error over time. This thesis builds on the research and recent developments in single beacon one-way-travel- time (OWTT) acoustic navigation and investigates the degree of bounding position error for small AUVs with a minimal navigation strap-down sensor suite, relying mostly on a consumer grade microelectromechanical system (MEMS) inertial measurement unit (IMU) and a vehicle's dynamic model velocity. An implementation of an Extended Kalman Filter (EKF) that includes IMU bias estimation and coupled with a range filter, is obtained in the field on two OceanServer Technology, Inc. Iver2 AUVs and one Bluefin Robotics SandShark [mu]AUV. Results from these field trials on Ashumet Pond of Falmouth, Massachusetts, the Charles River of Cambridge, Massachusetts, and Monterey Bay near Santa Cruz, California show a navigation solution accuracy comparable to current standard navigation techniques.</Abstract>
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