Correction of inertial measurements using GPS updates for underwater navigation.

116 Pages·1.3 MB·en_US

by  Nagengast, Steve.;Cristi, Roberto.

UNCLASSIFIED
StCwRiTV C.ASSi^CAT.ON Of TM>S PAGE
REPORT DOCUMENTATION PAGE FormApproved
OMBNo 0704 0188
•a REPORT SECURITY CLASSIFICATION ID RESTRICTIVE MARKINGS
UNCLASSIFIED
2a SECURITY CLASSIFICATION AUTHORITY 3 DISTRIBUTION AVAIlABU'TY OF REPORT
Approved for public release;
2D DECLASSIFICATION/ DOWNGRADING SCHEDULE distribution is unlimited.
4 PERFORMING ORGANIZATION REPORT NUMBER(S) 5 MONITORING ORGANIZATION REPORT NUMBERS/
6a NAME OF PERFORMING ORGANIZATION 6b OFFICE SYMBOL 7a NAME OF MONITORING ORGAN.ZATiON
(if applicable)
Naval Postgraduate School 32 Naval Postgraduate School
6c ADDRESS {City, State, and ZIPCode) 7b ADDRESS(Ofy. State, and ZIPCode)
Monterey, CA 93943-5000 Monterey, CA 93943-5000
3a NAME OF FUNDING/SPONSORING 8b OFFICE SYMBOL 9 PROCUREMENT INSTRUMENT IDENTIFICATION NUMBER
ORGANIZATION {If applicable)
Naval Air Warfare Center 3333
8c ADDRESS(C/fy, State, and ZIPCode) :0 SOURCE OF FUNDING NUMBERS
PROGRAM PROJECT TASK WORK UNIT
ELEMENT NO NO NO ACCESSION NO
Pt. Mugu, CA 93042-5000
11 TITLE (Include Security Classification)
CORRECTION OF INERTIAL MEASUREMENTS USING GPS UPDATES FOR UNDERWATER NAVIGATION
I2 PERSONA. AUTHOR(S) Nagengast, Steven John; Naval Air Warfare Center, Weapons Division
13a TYPE OF REPORT 13b TIME COVERED 14 DATE OF REPORT {Year, Month, Day) 15 PAGE COUNT
Master's Thesis FROM TO 1992 September 104
16 SUPPLEMENTARY NOTATION
The views expressed in this thesis are those of the author and do not reflect the
official policy or position of the Department of Defense or the U.S. Government.
17 COSATi CODES 18 SUBJECT TERMS (Continue on reverse if necessary and identity by block number)
FIELD GROUP SUB-GROUP Navigation, Global Positioning System, Kalraan Filter,
Underwater Vehicles, Inertial Navigation
19 ABSTRACT (Continue on reverse if necessary and identify by block number)
An Autonomous Underwater Vehicle (AUV) can combine a Global Positioning System
(GPS) receiver with an Inertia.1 Navigation System (INS) to navigate with a specified
.
accuracy level. The AUV would be required to surface periodically to obtain a GPS
fix. A computer simulation has been developed using an AUV model and an INS error
model to generate noisy measurements. A Kalman filter is used to estimate the
simulated INS errors. Several runs were executed to compare combinations of
equipment with different levels of accuracy.
20 Distribution/availability of abstract 21 ABSTRACT SECURITY CLASSIFICATION
b unclassified/unlimited same as rpt d otic users UNCLASSIFIED
22a NAME OF RESPONSIBLE INDIVIDUAL 22b TELEPHONE (include AreaCode) 22c OFFICE SYMBOl
Dr. Roberto Cristi [phone] EC/Cx
DDForm 1473. JUN 86 Previouseditionsareobsolete SECURITY CLASSIFICATION OF THIS PAGE
S/N 0102-LF-014-6603 UNCLASSIFIED
Approved for public release; distribution is unlimited
Correction of Inertial Measurements Using GPS
Updates for Underwater Navigation
by
Steve Nagengast
Naval Air Warfare Center, Weapons Division
B. S., California State Polytechnic University, 1985
Submitted in partial fulfillment
of the requirements for the degree of
MASTER OF SCIENCE IN ELECTRICAL ENGINEERING
from the
NAVAL POSTGRADUATE SCHOOL
September, 1992
ABSTRACT
An Autonomous Underwater Vehicle (AUV) can combine a
Global Positioning System (GPS) receiver with an Inertial
Navigation System (INS) to navigate with a specified
accuracy level. The AUV would be required to surface
periodically to obtain a GPS fix. A computer simulation has
been developed using an AUV model and an INS error model to
generate noisy measurements. A Kalman filter is used to
estimate the simulated INS errors. Several runs were
executed to compare combinations of equipment with different
levels of accuracy.
111
L>\
TABLE OF CONTENTS
I. INTRODUCTION 1
II. GLOBAL POSITIONING SYSTEM 8
A. LEVELS OF ACCURACY 8
B. POSITION DETERMINATION 10
C. REPRESENTATIVE GPS DATA 13
III. INERTIAL NAVIGATION SYSTEMS 16
A. GIMBALLED SYSTEMS 16
B. STRAPDOWN SYSTEMS 18
....
C. GYROSCOPE PERFORMANCE CHARACTERISTICS 24
D. OPTICAL GYROSCOPES 26
1. Advantages of Optical Gyroscopes 26
...
2. Theory of Operation: Sagnac Effect 28
3. Ring Laser Gyros 31
IV. INS ERROR ESTIMATION 35
A. INS ERROR MODEL 35
B. KALMAN FILTER EQUATIONS 37
V. COMPUTER SIMULATION 41
VI. RESULTS 48
VII. CONCLUSIONS AND RECOMMENDATIONS 70
APPENDIX A. GPS DATA PROCESSING SOFTWARE 72
APPENDIX B. COMPUTER SIMULATION SOFTWARE 74
LIST OF REFERENCES 88
BIBLIOGRAPHY 90
INITIAL DISTRIBUTION LIST 91
IV