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dc.contributor.authorSeely, William Forresteren
dc.date.accessioned2014-03-14T20:40:57Zen
dc.date.available2014-03-14T20:40:57Zen
dc.date.issued2004-06-28en
dc.identifier.otheretd-07012004-112405en
dc.identifier.urihttp://hdl.handle.net/10919/33850en
dc.description.abstractCompared to large vehicles acting individually, platoons of small, inexpensive autonomous underwater vehicles have the potential to perform some missions that are commonly conducted by larger vehicles faster, more efficiently, and at a reduced operational cost. This thesis describes the power system of a small, inexpensive autonomous underwater vehicle developed by the Autonomous Systems Controls Laboratory at Virginia Tech.

Reduction in vehicle size and cost reduces the accuracy of navigational sensors, leading to the need for autonomous calibration. Several models of navigational sensors are discussed, and the extended Kalman filter is used to form an observer for each, which are simulated and analyzed.

en
dc.publisherVirginia Techen
dc.relation.haspartThesis.pdfen
dc.rightsIn Copyrighten
dc.rights.urihttp://rightsstatements.org/vocab/InC/1.0/en
dc.subjectAUVen
dc.titleDevelopment of a Power System and Analysis of Inertial System Calibration for a Small Autonomous Underwater Vehicleen
dc.typeThesisen
dc.contributor.departmentElectrical and Computer Engineeringen
dc.description.degreeMaster of Scienceen
thesis.degree.nameMaster of Scienceen
thesis.degree.levelmastersen
thesis.degree.grantorVirginia Polytechnic Institute and State Universityen
thesis.degree.disciplineElectrical and Computer Engineeringen
dc.contributor.committeechairStilwell, Daniel J.en
dc.contributor.committeememberKing, Peter S.en
dc.contributor.committeememberBaumann, William T.en
dc.identifier.sourceurlhttp://scholar.lib.vt.edu/theses/available/etd-07012004-112405/en
dc.date.sdate2004-07-01en
dc.date.rdate2004-07-12en
dc.date.adate2004-07-12en


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