An investigation into underwater navigation accuracy with regard to sensor combinations and quality
Date
2008-03
Authors
Herselman, Leo
Journal Title
Journal ISSN
Volume Title
Publisher
Stellenbosch : Stellenbosch University
Abstract
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.
Description
Thesis (MScEng (Electrical and Electronic Engineering))--Stellenbosch University, 2008.
Keywords
Remote submersibles, Dissertations -- Electronic engineering, Theses -- Electronic engineering