Single Transponder Range Only Navigation Geometry (STRONG) applied to REMUS autonomous under water vehicles

A detailed study was conducted to prove the concept of an iterative approach to single transponder navigation for REMUS Autonomous Underwater Vehicles (AUVs). Although the concept of navigation with one acoustic beacon is not new, the objective was to develop a computer algorithm that could eventually be integrated into the REMUS architecture. This approach uses a least squares fit routine coupled with restrictive geometry and simulated annealing vice Kalman filtering and state vectors. In addition, to provide maximum flexibility, the single transponder was located on a GPS equipped surface ship that was free to move instead of the more common single bottom mounted beacon. Using only a series of spread spectrum ranges logged with time stamp, REMUS standard vehicle data, and reasonable initial conditions, the position at a later time was derived with a figure of merit fit score. Initial investigation was conducted using a noise model developed to simulate the errors suspected with the REMUS sensor suite. Results of this effort were applied to a small at sea test in 3,300 meters with the REMUS 6000 deep water AUV. A more detailed test was executed in Buzzard's Bay, Massachusetts, in 20 meters of water with a REMUS 100 AUV focusing on navigation in a typical search box.

Department dc:contributor.department

Joint Program in Applied Ocean Physics and Engineering

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2005

Author dc:creator

• Hartsfield, J. Carl (Jasper Carl)

Advisor dc:contributor.advisor

• Arthur B. Baggeroer.

• /Woods Hole Oceanographic Institution. Joint Program in Applied Ocean Science and Engineering.
• Mechanical Engineering.
• Woods Hole Oceanographic Institution.

Statement dc:rights

• M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/39175

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/39175