An Application of Kalman Filtering to Torpedo Tracking.

Abstract

A sequential Extended Kalman filter routine was developed to provide real time estimates of torpedo position and depth on the three dimensional underwater tracking range at the Naval Torpedo Station, Keyport, Washington. Filter measurements consisted of acoustic pulse transit times from the torpedo to a receiving hydrophone array. These measurements, which are nonlinear functions of the position and depth coordinates, were linearized and the filter gains calculated on-line. Tests were conducted using simulated torpedo trajectories that traversed both single and multiple hydrophone arrays. It was found that filter performance was dependent on system noise and the distance the torpedo was from the hydrophone array. Position and depth errors ranged between 0 and 10 feet. (Author)

Open PDF

Document Details

Document Type
Technical Report
Publication Date
Sep 01, 1980
Accession Number
ADA092303

Entities

People

  • Paul A. O'brien

Organizations

  • Naval Postgraduate School

Tags

DTIC Thesaurus Topics

  • Computers
  • Coordinate Systems
  • Data Science
  • Electrical Engineering
  • Engineering
  • Filtration
  • Geometry
  • Kalman Filtering
  • Kalman Filters
  • Mathematical Filters
  • Range Finding
  • Simulations
  • Statistical Algorithms
  • Three Dimensional
  • Torpedo Trajectories
  • Trajectories
  • Underwater Tracking

Readers

  • Acoustical Oceanography.
  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Geodesy