Title page for etd-0721114-105523


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URN etd-0721114-105523
Author Chia-Min Lin
Author's Email Address No Public.
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Department Institute of Undersea Technology
Year 2014
Semester 1
Degree Master
Type of Document
Language zh-TW.Big5 Chinese
Title Position Estimation of an Underwater Vehicle Using Ranges from One Transponder
Date of Defense 2014-08-26
Page Count 114
Keyword
  • Kalman filter
  • Single transponder
  • Underwater vehicle
  • Positioning
  • Abstract This study is to develop a range-only positioning approach that integrates the real-time measurements of a pressure sensor, the velocity evaluation from the Doppler velocity log (DVL) and the range information between a single seabed transponder and an underwater vehicle. This technique was used to effectively reduce the cost of deployments of the seafloor transponders, to precisely navigate the underwater vehicles, and to practically improve the variation of the update sampling rate from all rigs. The Extended Kalman filter and the Adaptive Kalman filter were employed to integrate the slant-range measurements from a single transponder, the velocity data from a DVL, the depth data from the pressure sensor, and the attitude angle from a gyrocompass. As a result, both of the filters are called the Extended Kalman filter Slant-range positioning system (EKF-SR) and the Adaptive Kalman filter Slant-range positioning system (AKF-SR), respectively. Numerical simulations and field experiments were conducted to test the performance of the proposed algorithm of this single-transponder underwater navigating method. However, the limitations of the initial condition will be the indicator to decide which filter should be better and the vehicle trajectory will affect algorithm convergence performance. The simulated and experimental results demonstrate that the proposed algorithm is robust to rectify the measurement errors and to provide accurate position for an underwater vehicle.
    Advisory Committee
  • Chi-Cheng Cheng - chair
  • Chau-Chang Wang - co-chair
  • Hsin-Hung Chen - advisor
  • Files
  • etd-0721114-105523.pdf
  • Indicate in-campus at 2 year and off-campus access at 2 year.
    Date of Submission 2014-08-21

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