Author Type

Graduate Student

Date of Award

2000

Document Type

Thesis

Publication Status

Version of Record

Submission Date

October 2026

Thesis/Dissertation Advisor [Chair]

An, Edgar

Abstract

This thesis describes a new Inertial Navigation System (INS), designed for use on the latest generation of Autonomous Underwater Vehicle (AUV), the Morpheus AUVs, developed by the Department of Ocean Engineering. The INS makes use of a high precision Inertial Measurement Unit (IMU) along with a Doppler Velocity Log (DVL), a GPS/DGPS system and a flux gate magnetic compass to estimate the position of the vehicle during a mission. Extensive data processing methods are used in order to reduce the sources of error most critical to the navigation estimation. Accelerometers and gyroscopes are used to estimate the vehicle attitude in a complementary filter; a standard Kalman filter performs yaw rate bias estimation, whereas a second, extended Kalman filter, provides position estimation of the vehicle in real time, while also correcting for heading errors. Overall the INS is capable of providing the Morpheus with 1% navigation accuracy over an hour.

Extent

130 p.

Comments

College of Engineering and Computer Science|FAU Electronic Theses and Dissertations Collection|Thesis (M.S.E.)--Florida Atlantic University, 2000.|College of Engineering and Computer Science

Identifier

FADT12682

Format

pdf

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