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dc.contributor.authorGode, Tejaswien_US
dc.date.accessioned2015-05-01T08:01:14Z
dc.date.available2015-05-01T08:01:14Z
dc.date.issued2015-04-30en_US
dc.identifier.othervt_gsexam:4724en_US
dc.identifier.urihttp://hdl.handle.net/10919/51956
dc.description.abstractA long-baseline (LBL) underwater acoustic communication and localization system was developed for the Virginia Tech Underwater Glider (VTUG). Autonomous underwater vehicles, much like terrestrial and aerial robots require an effective positioning system, like GPS to perform a wide variety of guidance, navigation and control operations. Sea and freshwater attenuate electromagnetic waves (sea water is worse due to higher conductivity) within very few meters of striking the water surface. Since radio frequency communications are unavailable, many undersea systems use acoustic communications instead. Underwater acoustic communication is the technique of sending and receiving data below water. Underwater acoustic positioning is the technique of locating an underwater object. Among the various types of acoustic positioning systems, the LBL acoustic positioning method offers the highest accuracy for underwater vehicle navigation. A system consisting of three acoustic 'beacons which are placed on the surface of the water at known locations was developed. Using an acoustic modem to excite an acoustic transducer to send sound waves from an underwater glider, the range measurements to each of the beacons was calculated. These range measurements along with data from the attitude heading and reference system (AHRS) on board the glider were used to estimate the position of the underwater vehicle. Static and dynamic estimators were implemented. The system also allowed for underwater acoustic communication in the form of heartbeat messages from the glider, which were used to monitor the health of the vehicle.en_US
dc.format.mediumETDen_US
dc.publisherVirginia Techen_US
dc.rightsThis Item is protected by copyright and/or related rights. Some uses of this Item may be deemed fair and permitted by law even without permission from the rights holder(s), or the rights holder(s) may have licensed the work for use under certain conditions. For other uses you need to obtain permission from the rights holder(s).en_US
dc.subjectLong baseline rangingen_US
dc.subjectAcoustic localizationen_US
dc.subjectEstimation theoryen_US
dc.subjectKalman filteren_US
dc.subjectUnmanned underwater glideren_US
dc.subjectAcoustic modemen_US
dc.titleLong Basline Ranging Acoustic Positioning Systemen_US
dc.typeThesisen_US
dc.contributor.departmentElectrical and Computer Engineeringen_US
dc.description.degreeMSen_US
thesis.degree.nameMSen_US
thesis.degree.levelmastersen_US
thesis.degree.grantorVirginia Polytechnic Institute and State Universityen_US
thesis.degree.disciplineElectrical Engineeringen_US
dc.contributor.committeechairWoolsey, Craig A.en_US
dc.contributor.committeememberStilwell, Daniel Jen_US
dc.contributor.committeememberWicks, Alfred Len_US


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