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dc.contributor.authorPasnani, Parth
dc.date.accessioned2020-04-30T18:30:20Z
dc.date.available2020-04-30T18:30:20Z
dc.identifier.urihttp://hdl.handle.net/10222/79080
dc.descriptionThis thesis explores the feasibility of long range underwater navigation and localization using gravity-based measurements. Underwater localization is demonstrated using a particle filter based system with an a priori map and with a SLAM implementation without an a priori map. Information theory techniques are also applied to aid path planning and improve the localization performance at long ranges.en_US
dc.description.abstractThe aim of this thesis is to demonstrate feasibility of a gravity-based system for long range underwater localization. Such a system is demonstrated, in simulations, with the use of particle filter-based localization and Rao-Blackwellized particle filter SLAM (simultaneous localization and mapping). This system allows an autonomous underwater vehicle (AUV) to operate submerged for extended periods without the use of an active sensor, thus widening the variety of missions that an AUV can be tasked with. Additionally, this thesis demonstrates how information theory techniques can be used to plan a path through a region such that SLAM data association within that region is improved thus improving the performance of SLAM. The results from this work also indicate that characteristic value can be used to evaluate the ”SLAMability” of an environment. Combining the characteristic value with information theory techniques improves the performance of SLAM at extended ranges enabling long range underwater localization.en_US
dc.language.isoen_USen_US
dc.subjectUnderwateren_US
dc.subjectNavigationen_US
dc.subjectLocalizationen_US
dc.subjectMappingen_US
dc.subjectSLAMen_US
dc.subjectParticle Filteren_US
dc.subjectTerrain based navigationen_US
dc.subjectGravity based navigationen_US
dc.subjectGravityen_US
dc.subjectGravimeteren_US
dc.subjectInformation theoryen_US
dc.subjectPath planningen_US
dc.subjectLong rangeen_US
dc.titleLong Range Underwater Navigation using Gravity-Based Measurementsen_US
dc.date.defence2020-04-21
dc.contributor.departmentDepartment of Electrical & Computer Engineeringen_US
dc.contributor.degreeMaster of Applied Scienceen_US
dc.contributor.external-examinerN/Aen_US
dc.contributor.graduate-coordinatorDmitry Trukhacheven_US
dc.contributor.thesis-readerJason Guen_US
dc.contributor.thesis-readerSergey Ponomarenkoen_US
dc.contributor.thesis-supervisorMae Setoen_US
dc.contributor.ethics-approvalNot Applicableen_US
dc.contributor.manuscriptsNot Applicableen_US
dc.contributor.copyright-releaseNot Applicableen_US
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