Current velocity profiling from an autonomous underwater vehicle with the application of Kalman filtering
Thesis (S.M. in Oceanographic Engineering)--Joint Program in Applied Ocean Science and Engineering (Massachusetts Institute of Technology, Dept. of Ocean Engineering; and the Woods Hole Oceanographic Institution); and, (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering an...
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| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2012
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| Online Access: | http://hdl.handle.net/1721.1/69202 |
| _version_ | 1826207615087017984 |
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| author | Zhang, Yanwu |
| author2 | James G. Bellingham and Arthur B. Baggeroer. |
| author_facet | James G. Bellingham and Arthur B. Baggeroer. Zhang, Yanwu |
| author_sort | Zhang, Yanwu |
| collection | MIT |
| description | Thesis (S.M. in Oceanographic Engineering)--Joint Program in Applied Ocean Science and Engineering (Massachusetts Institute of Technology, Dept. of Ocean Engineering; and the Woods Hole Oceanographic Institution); and, (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1998. |
| first_indexed | 2024-09-23T13:52:18Z |
| format | Thesis |
| id | mit-1721.1/69202 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T13:52:18Z |
| publishDate | 2012 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/692022022-01-11T21:55:03Z Current velocity profiling from an autonomous underwater vehicle with the application of Kalman filtering Zhang, Yanwu James G. Bellingham and Arthur B. Baggeroer. Woods Hole Oceanographic Institution. Joint Program in Applied Ocean Physics and Engineering Massachusetts Institute of Technology. Dept. of Ocean Engineering. Woods Hole Oceanographic Institution. Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology. Department of Ocean Engineering Joint Program in Applied Ocean Science and Engineering. Ocean Engineering. Woods Hole Oceanographic Institution. GC7.8 .Z52 Submersibles Ocean currents Kalman filtering Underwater acoustics Thesis (S.M. in Oceanographic Engineering)--Joint Program in Applied Ocean Science and Engineering (Massachusetts Institute of Technology, Dept. of Ocean Engineering; and the Woods Hole Oceanographic Institution); and, (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1998. Includes bibliographical references (leaves 74-78). The thesis presents data processing schemes for extracting Earth-referenced current velocity from relative current velocity measurement made by an Acoustic Doppler Current Profiler (ADCP) borne by an Autonomous Underwater Vehicle (AUV). Compared with conventional approaches, current profiling from an AUV platform has advantages including three-dimensional mobility, rapid response, high-level intelligent control, independence from ship motion and weather constraint, and shallow water operation. First, an acausal postprocessing scheme is presented for estimating the AUV's own velocity and removing it from the relative velocity measurement to obtain the true current velocity. Then, a causal scheme for estimating the Earth-referenced current velocity is presented. The causal algorithm is based on an Extended Kalman Filter (EKF) that utilizes the hydrodynamics connecting current velocity to vehicle's motion. In both methods, the raw ADCP measurement is corrected to achieve more accurate current velocity estimate. Field data from the Haro Strait Tidal Front Experiment are processed by both methods. Current velocity estimation results reveal horizontal and vertical velocity structure of the tidal mixing process, and are also consistent with the vehicle's deviated trajectory. The capability of the AUV-borne current profiling system is thus demonstrated. by Yanwu Zhang. S.M.in Oceanographic Engineering 2012-02-24T18:57:08Z 2012-02-24T18:57:08Z 1998 Thesis http://hdl.handle.net/1721.1/69202 40799921 eng M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 78 leaves application/pdf Massachusetts Institute of Technology |
| spellingShingle | Joint Program in Applied Ocean Science and Engineering. Ocean Engineering. Woods Hole Oceanographic Institution. GC7.8 .Z52 Submersibles Ocean currents Kalman filtering Underwater acoustics Zhang, Yanwu Current velocity profiling from an autonomous underwater vehicle with the application of Kalman filtering |
| title | Current velocity profiling from an autonomous underwater vehicle with the application of Kalman filtering |
| title_full | Current velocity profiling from an autonomous underwater vehicle with the application of Kalman filtering |
| title_fullStr | Current velocity profiling from an autonomous underwater vehicle with the application of Kalman filtering |
| title_full_unstemmed | Current velocity profiling from an autonomous underwater vehicle with the application of Kalman filtering |
| title_short | Current velocity profiling from an autonomous underwater vehicle with the application of Kalman filtering |
| title_sort | current velocity profiling from an autonomous underwater vehicle with the application of kalman filtering |
| topic | Joint Program in Applied Ocean Science and Engineering. Ocean Engineering. Woods Hole Oceanographic Institution. GC7.8 .Z52 Submersibles Ocean currents Kalman filtering Underwater acoustics |
| url | http://hdl.handle.net/1721.1/69202 |
| work_keys_str_mv | AT zhangyanwu currentvelocityprofilingfromanautonomousunderwatervehiclewiththeapplicationofkalmanfiltering |