Theses and Dissertations
Issuing Body
Mississippi State University
Advisor
Tang, Bo
Committee Member
Moorhead, Robert J.
Committee Member
Ball, John E.
Date of Degree
8-9-2022
Document Type
Graduate Thesis - Open Access
Major
Electrical and Computer Engineering
Degree Name
Master of Science (M.S.)
College
James Worth Bagley College of Engineering
Department
Department of Electrical and Computer Engineering
Abstract
This report documents the development of the Subwave, a remotely-operated underwater vehicle (ROV), and an artificial neural network based inertial positioning system. The Subwave uses the open-source ArduSub software framework, commercial-off-the-shelf hardware components, and several custom systems. It is designed as a platform for researching autonomous underwater vehicles (AUVs). The first step for an AUV is navigating waypoints, which requires the AUV to know its global position. Since global navigation satellite systems (GNSSs) are denied underwater, the available underwater positioning systems were surveyed and determined that all the available systems were too large and expensive for the Subwave. It was also discovered that the only consistent underwater positioning method was inertial positioning. So, experimentation began on a small, low-cost system that employs an artificial neural network to predict latitude and longitude using micro-electromechanical system (MEMS) inertial measurement unit (IMU) data as inputs, which would become the Neural-Inertial Positioning System.
Recommended Citation
Farmer, Jason, "Development of the Subwave ROV and Neural-Inertial Positioning System" (2022). Theses and Dissertations. 5556.
https://scholarsjunction.msstate.edu/td/5556
Included in
Other Electrical and Computer Engineering Commons, Signal Processing Commons, VLSI and Circuits, Embedded and Hardware Systems Commons