Underwater Navigation by Acoustic Sensors and INS data Fusion, M.Sc. Thesis Sharif University of Technology ; Salarieh, Hassan (Supervisor)
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...
Cataloging briefUnderwater Navigation by Acoustic Sensors and INS data Fusion, M.Sc. Thesis Sharif University of Technology ; Salarieh, Hassan (Supervisor)
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...
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