Ranger NBV has a large array of sensors which allow it to monitor
its own state. Manipulators have position, temperature, voltage, and
current sensors. Power systems are monitored by voltage and current
sensors. Leak sensors warn of water in the electronics module.
Thrusters return angular position which is in turn converted to
angular velocity, and buoyancy compensators return position and end
A description of all of these sensors is beyond the scope of this thesis. This section will describe only those sensors used by the flight control system for determining Ranger NBV's position, attitude, and angular rate. The data produced by these sensors is used by the state estimator to determine the vehicle state vector. This information is then passed to the vehicle flight control system, where it is used to control thrust, buoyancy, or manipulator configuration.