Author Type

Graduate Student

Date of Award

2001

Document Type

Thesis

Publication Status

Version of Record

Submission Date

October 2026

Thesis/Dissertation Advisor [Chair]

An, Edgar

Abstract

This thesis describes an automated post-processing tool, designed for use on navigational data gathered by Autonomous Underwater Vehicles (AUVs), developed and operated by the Department of Ocean Engineering at Florida Atlantic University. The post-processing tool consists of a 9-state complementary Kalman filter in conjunction with a Rauch-Tung-Striebel (RTS) smoothing algorithm. The Kalman filter is run forward in time to merge navigational data from an Inertial Measurement Unit (IMU), a Doppler Velocity Log (DVL), a magnetic compass, a GPS/DGPS system and an Ultrashort Baseline (USBL) tracking system. Subsequently, the RTS smoothing algorithm is run backwards in time to find and compensate for drift errors in dead reckoned position and compass measurement error. The post-processing tool has been implemented as a graphical user interface, designed in MATLAB. Improved accuracy in post-processed position and heading has been verified by conducting sea trials and post-processing the collected data.

Extent

191 p.

Comments

College of Engineering and Computer Science|FAU Electronic Theses and Dissertations Collection|Thesis (M.S.)--Florida Atlantic University, 2001.|College of Engineering and Computer Science

Identifier

FADT12752

Format

pdf

Download

Share

COinS