An Application of Kalman Filtering and Smoothing to Torpedo Tracking.

Abstract

A sequential Extended Kalman Filter and Smoothing 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. Inputs to the routine were acoustic pulse transit times from the target to receiving array elements which are non-linear functions of the position coordinates. These inputs were linearized and the filter gains and filtered estimates calculated on-line. By using a smoothing subroutine, all past filtered estimates were smoothed. Tests were conducted using simulated torpedo trajectories that traversed multiple hydrophone arrays. It was found that filter performance was dependent on system noise and the distance the torpedo was from the hydrophone array and the smoothed estimates of states were better than or equal to the filtered estimates. (Author)

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Document Details

Document Type
Technical Report
Publication Date
Oct 01, 1982
Accession Number
ADA121917

Entities

People

  • Mustafa Isik

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Weapons Technologies

DTIC Thesaurus Topics

  • California
  • Computers
  • Coordinate Systems
  • Electrical Engineering
  • Engineering
  • Estimators
  • Filtration
  • Geometry
  • Kalman Filtering
  • Kalman Filters
  • Plastic Explosives
  • Procedures (Computers)
  • Simulations
  • Three Dimensional
  • Torpedo Trajectories
  • Trajectories
  • Underwater Tracking

Readers

  • Acoustical Oceanography.
  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Maritime and Naval Warfare Studies