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dc.contributor.authorKapaldo, Aaron J.en_US
dc.date.accessioned2014-03-14T20:43:00Z
dc.date.available2014-03-14T20:43:00Z
dc.date.issued2005-07-28en_US
dc.identifier.otheretd-08082005-173535en_US
dc.identifier.urihttp://hdl.handle.net/10919/34418
dc.description.abstractAutonomous Underwater Vehicles (AUVs) are currently being used for many underwater tasks such as mapping underwater terrain, detection of underwater objects, and assessment of water quality. Possible uses continue to grow as the vehicles become smaller, more agile, and less expensive to operate. However, trade-offs exist between making less expensive, miniature AUVs and the quality at which they perform. One area affected by cost and size is the onboard navigation system. To achieve the challenges of low-cost rate sensors, this thesis examines calibration methods that are suitable for identifying calibration coefficients in low-cost MEMS gyros. A brief introduction to underwater navigation is presented and is followed by the development of a model to describe the operation of a rate gyro. The model uses the integral relationship between angular rate and angular position measurements. A compass and two tilt sensors provide calibrated angular position data against which the three single axis gyros are compared to obtain an error signal describing errors present in the angular rate measurements. A calibration routine that adaptively identifies error parameters in the gyros is developed. Update laws are chosen to recursively apply estimated error parameters to minimize the system error signal. Finally, this calibration method is applied to a simple dead reckoning algorithm in an attempt to measure the improvements calibration provides.en_US
dc.publisherVirginia Techen_US
dc.relation.haspartAaronKapaldoThesis.pdfen_US
dc.rightsI hereby certify that, if appropriate, I have obtained and attached hereto a written permission statement from the owner(s) of each third party copyrighted matter to be included in my thesis, dissertation, or project report, allowing distribution as specified below. I certify that the version I submitted is the same as that approved by my advisory committee. I hereby grant to Virginia Tech or its agents the non-exclusive license to archive and make accessible, under the conditions specified below, my thesis, dissertation, or project report in whole or in part in all forms of media, now or hereafter known. I retain all other ownership rights to the copyright of the thesis, dissertation or project report. I also retain the right to use in future works (such as articles or books) all or part of this thesis, dissertation, or project report.en_US
dc.subjectAdaptive Filteringen_US
dc.subjectInertial Navigationen_US
dc.subjectDead Reckoningen_US
dc.subjectExtended Kalman Filteren_US
dc.titleGyroscope Calibration and Dead Reckoning for an Autonomous Underwater Vehicleen_US
dc.typeThesisen_US
dc.contributor.departmentElectrical and Computer Engineeringen_US
dc.description.degreeMaster of Scienceen_US
thesis.degree.nameMaster of Scienceen_US
thesis.degree.levelmastersen_US
thesis.degree.grantorVirginia Polytechnic Institute and State Universityen_US
thesis.degree.disciplineElectrical and Computer Engineeringen_US
dc.contributor.committeechairStilwell, Daniel J.en_US
dc.contributor.committeememberKachroo, Pushkinen_US
dc.contributor.committeememberBaumann, William T.en_US
dc.identifier.sourceurlhttp://scholar.lib.vt.edu/theses/available/etd-08082005-173535/en_US
dc.date.sdate2005-08-08en_US
dc.date.rdate2005-08-25
dc.date.adate2005-08-25en_US


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