Underwater Navigation by Acoustic Sensors and INS data Fusion

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Karmozdi, Ali | 2015

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 47943 (08)
University: Sharif University of Technology
Department: Mechanical Engineering
Advisor(s): Salarieh, Hassan
Abstract:
In this study, by INS and auxiliary acoustic sensors data fusion, underwater navigation algorithm is implemented and validated by computer simulations. Extended Kalman Filter based on perturbation analysis is used as combination algorithm. The outputs of the INS forms equations of mechanism. The variational variables are state variables estimated in the Kalman filter. Because of the weakness of the GPS signals due to electromagnetic signals Attenuation in water, acoustic sensors are used as auxiliary sensors in underwater navigation. Here those acoustic sensors that implementing them in this country is impossible or very costly would not be examined.In this research the output of Doppler velocity log and terrain aided navigation by an acoustic altimeter and a pressure depth meter are used as auxiliary measurements. For this purpose, the governing equations of DVL are fully derived and simulated. Also the algorithm used for terrain aided navigation is SITAN.Finally, the results of simulations, as well as final conclusions are presented
Keywords:
Inertial Navigation System ; Integrated Navigation System ; Underwater Navigation ; Doppler Velocity Log (DVL)

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