Torrado Díaz, Jesús R.

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    A navigation system for free descent-ascent autonomous underwater vehicles
    (2017-05) Torrado Díaz, Jesús R.; Jiménez Cedeño, Manuel; College of Engineering; Schmidt, Wilford; Rodríguez, Domingo; Department of Electrical and Computer Engineering; Pagán Trinidad, Ismael
    Free vehicles are buoyant platforms designed to freely descend through the water column when ballasted. A free vehicle gathers samples from the water column or the ocean bed. Once done sampling, the vehicle releases its ballast, surfaces, and signals for recovery. Free vehicles are exible, low cost, tools for marine research and are designed with an interchangeable payload and full ocean depth deployment capability. This thesis presents the development of a post-processing navigation system based on geomagnetic navigation algorithms, suitable for free vehicles. A navigation solution for free vehicles can facilitate research e orts, by enabling the correlation of the samples gathered, to its location. Traditional underwater navigation solutions based on sonar technology can hinder a free vehicle's payload capabilities or introduce prohibitive costs. Geomagnetic navigation is a technique that uses magnetic maps and a strap down compass to determine a vehicle's position. The technique works by correlating the vehicle's path and corresponding magnetic readings to a magnetic map. The developed system was tested and its navigation performance estimated by a simulation framework developed for this purpose. The simulation framework consists of sensor model, a trajectory generator and performance measurements. The developed navigation system demonstrated good potential as a navigation solution and its recommended con guration and sensor performance is presented.