Date of Award
2010
Document Type
Thesis
Publication Status
Version of Record
Submission Date
October 2026
Abstract
Standard GPS receivers are unable to provide the rate or precision required when used on a small vessel such as an Unmanned Surface Vehicles (USVs). To overcome this, the thesis presents a low cost high rate motion measurement system for an USV with underwater and oceanographic purposes. The work integrates an Inertial Measurement Unit (IMU), a GPS receiver, a flux-gate compass, a tilt sensor and develops a software package, using real time data fusion methods, for an USV to aid in the navigation and control as well as controlling an onboard Acoustic Doppler Current Profiler (ADCP).While ADCPs non-intrusively measure water flow, they suffer from the inability to discriminate between motions in the water column and self-motion. Thus, the vessel motion contamination needs to be removed to analyze the data and the system developed in this thesis provides the motion measurements and processing to accomplish this task.
Extent
xx, 122 p. : ill. (some col.)
Recommended Citation
Gelin, Chrystel., "low-cost, high rate motion measurement system for an unmanned surface vehicle with underwater navigation and oceanographic applications" (2010). Electronic Theses and Dissertations 2010 - 2019. 123.
https://digitalcommons.fau.edu/etd_general_6/123
Identifier
FADT2709690
Comments
by Chrystel Gelin.|Thesis (M.S.C.S.)--Florida Atlantic University, 2010.|Includes bibliography.|Electronic reproduction. Boca Raton, Fla., 2010. Mode of access: World Wide Web.|by Chrystel Gelin.