An investigation into underwater navigation accuracy with regard to sensor combinations and quality
Thesis (MScEng (Electrical and Electronic Engineering))--Stellenbosch University, 2008.
A navigation performance sensitivity study with respect to the quality variation of sensors and sensor combinations is presented in this thesis. Navigation simulation software capable of using real-time and simulated sensor data is developed in this project. The simulation software is used to simulate different sensor combinations and therefore evaluate the best configuration for each AUV mission. A sensor module is also developed to capture real-time sensor data. The sensor module includes a low-cost 6-degreeof- freedom inertial measurement module (rate gyroscopes and accelerometers), a three-axes magnetometer and other sensor interfaces. The real-time sensor data are used to test and calibrate the navigation simulation software. Different sensor combinations are evaluated by using the navigation simulation software with simulated sensor data as input. The quality of each sensor is varied by changing its noise characteristics. The performance study, together with the developed simulation tools, simplifies the process of selecting a sensor combination to fulfill a specific navigation accuracy requirement.