Podvodna navigacija korštenjem jednostrukog mjerenja udaljenosti

master's thesis

• Title (english): Range-only underwater navigation
• Author: Filip Mandić
• Mentor: Nikola Mišković (mentor)
• Committee member: Nikola Mišković (predsjednik povjerenstva)
• Committee member: Zoran Vukić (član povjerenstva)
• Committee member: Marija Seder (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2014-07-15, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Podvodna navigacija autonomnih predstavlja velik izazov
zbog nemogućnosti propagiranja GPS signala pod vodu. Postojeća rješenja koja se
temelje na akustičkoj navigaciji su nepraktična i često preskupa
stoga se pristupa rješenjima koja koriste jednostruka mjerenja
udaljenosti od poznate točke. U ovom radu prikazani su algoritmi
navigacije jednostrukim mjerenjima udaljenosti temeljeni na
proširenom Kalmanovom filtru. Prikazani su koncepti osmotrivosti
nelinearnih sustava, te je ispitana... More osmotrivost navigacijskoga sustava na
različite tipove trajektorija. Također, ispitani su postupci proračuna
optimalnih putanja mobilnih predajnika u svrhu povećanja osmotrivosti sustava i
kvalitetnije estimacije položaja. Less

Abstract (english)

Underwater autonomous navigation presents a great challenge
due to the inability of propagation of GPS signals under water. Existing solutions
based on acoustic navigation are often impractical and too expensive
therefore solutions using a single measurement
distance from a known point are assessed. In this paper, the algorithms
for single range measurements navigation based on
the extended Kalman filter are presented. Observability concepts
for nonlinear systems are shown, and... More observability of navigation system
for different types of trajectories is investigated. Also,
techniques for calculating optimal path of mobile transmitters in order to increase the observability and
allow better estimation of position are examined. Less

• Keywords: podvodna navigacija; jednostruka mjerenja udaljenosti; optimalne putanje
• Keywords (english): underwater navigation; single range measurements; optimal path
• Language: croatian
• URN:NBN: urn:nbn:hr:168:499314
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2018-02-06 10:21:38