Title page for ETD etd-07242003-163503

Type of Document Master's Thesis
Author Mach, Jared Jamison
Author's Email Address jmach@vt.edu
URN etd-07242003-163503
Title Toward Auto-Calibration of Navigation Sensors for Miniature Autonomous Underwater Vehicles
Degree Master of Science
Department Electrical and Computer Engineering
Advisory Committee
Advisor Name Title
Stilwell, Daniel J. Committee Chair
Kachroo, Pushkin Committee Member
Saunders, William R. Committee Member
  • UUV
Date of Defense 2003-07-23
Availability unrestricted
With an increase in the use of autonomous underwater vehicles (AUV's) comes the desire for smaller and cheaper AUV's. Reduction in size and cost will make AUV technology more accessible to research and industrial communities. These constraints also reduce the quality of components used in the vehicle. Availability of calibration algorithms built into the sensors also diminishes. Thus, there is a need for developing automatic sensor calibration techniques. This thesis presents the theoretical and simulation results of calibration algorithms developed for an electronic magnetic compass and heading rate sensor. Development of the Autonomous Systems and Controls Laboratory's first miniature AUV is also presented.
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