Date of Award
2017
Document Type
Thesis
Publication Status
Version of Record
Submission Date
October 2026
Thesis/Dissertation Advisor [Chair]
Dhanak, Manhar R.
Abstract
The primary objective of this research is to investigate the viability of magnetic anomaly localization with an autonomous underwater vehicle, using a genetic algorithm (GA). The localization method, first proposed by Sheinker. et al. 2008, is optimized here for the case of a moving platform. Extensive magnetic field modeling and algorithm simulation has been conducted and yields promising results. Field testing of the method is conducted with the use of the Ocean Floor Geophysics Self-Compensating Magnetometer (SCM). Extensive out-of-water field testing is conducted to validate the ability to measure a target signal in a uniform NED frame as well as to validate the effectiveness of the GA. The outcome of the simulation closely matches the results of the conducted field tests. Additionally, the SCM is fully integrated with FAU’s Remus 100 AUV and preliminary in-water testing of the system has been conducted.
Extent
105 p.
Recommended Citation
Philippeaux, Harryel Arsene, "Real-Time Localization of a Magnetic Anomaly: A Study of the Effectiveness of a Genetic Algorithm for Implementation on an Autonomous Underwater Vehicle" (2017). Electronic Theses and Dissertations 2010 - 2019. 1770.
https://digitalcommons.fau.edu/etd_general_6/1770
Identifier
FA00005948
Comments
Includes bibliography.|Thesis (M.S.)--Florida Atlantic University, 2017.|FAU Electronic Theses and Dissertations Collection|Includes bibliography.