Estimation Forces Acting on an Underwater Vehicle with G.P.S. (Global Positioning System) and Kalman Filtering.

Abstract

A discrete state space model is developed which describes an autonomous underwater vehicle and incorporates the effects of currents, sea state, and wind as it travels through the sea. Heading commands are calculated to overcome these effects by the design of an Extended Kalman Filter which estimates their combined velocity components. Simulations are done which test the filter's effectiveness in a range of different environments. Some potential uses for this system are discussed at the end.

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Document Details

Document Type
Technical Report
Publication Date
Mar 01, 1988
Accession Number
ADA194339

Entities

People

  • James K. Easton Jr

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Ground and Sea Platforms
  • Sensors
  • Space

DTIC Thesaurus Topics

  • Algorithms
  • Autonomous Underwater Vehicles
  • Data Storage Systems
  • Detectors
  • Estimators
  • Filters
  • Global Positioning Systems
  • Inertial Measurement Units
  • Kalman Filtering
  • Kalman Filters
  • Measurement
  • Navigation
  • Optimal Estimators
  • Simulations
  • Underwater Vehicles
  • Vehicles
  • Watercraft

Readers

  • Image Processing and Computer Vision.
  • Positioning, Navigation, and Timing (PNT) Technology.
  • Robotics and Automation.

Technology Areas

  • Space
  • Space - Spacecraft Maneuvers