ANALYSIS AND SİMULATION OF AUV (AUTONOMOUS UNDERWATER VEHICLE) NAVIGATION SYSTEMS

Analysis & Simulation of AUV Navigation Systems — Bachelor's Thesis

I constructed a 6-DOF kinematic/dynamic model for an autonomous underwater vehicle (AUV); derived the equations of motion using positioning and navigation transformations (Euler, transformation matrices).

I examined and compared navigation approaches (dead-reckoning/INS, acoustic, optical, SLAM, etc.).

I modeled the AUV with Inventor and performed navigation/sensor-feedback simulations with MATLAB/Simulink.

Objective: Establish the AUV's navigation positioning and validate its performance with simulation data; demonstrate a modular, energy-efficient architecture.

Tools Used: Inventor, MATLAB/Simulink • Keywords: AUV, navigation, positioning, SLAM, 6-DOF