Design of a navigator for a Testbed Autonomous Underwater Vehicle

Autonomous Underwater Vehicles (AUV) are a subject of study at the Naval Postgraduate School (NPS). This thesis discusses the formulation of a navigator for the Testbed AUV being constructed at NPS. The navigator being proposed estimates the position of the vehicle using measurable dynamic parameters. The estimate is refined by an observation of position using sonar. The effects of set, drift and sonar noise are minimized using a filter. A simulation to test the AUV is also provided to test the effectiveness of the navigator through a range of noise environments. The simulation is an extension of the work of LT C.A. Hartley who modeled a more complex sonar to detect motion over the ground for a station keeping AUV.
http://archive.org/details/designofnavigato1094526977
Lieutenant Commander, United States Navy
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