A Uniqueness Proof for Sonar Motion Estimation
Abstract
To establish the groundwork for estimating circular motion from sonar measurements, necessary and sufficient conditions for the existence and uniqueness of a motion parameter solution are derived. The measurements, range, range rate, and bearing, for a point on a moving object, are assumed to be matched, i.e. associated with measurements of the same point at a later time. These six measurements; R1, R2, R1, R2, B1, and B2; subscripted to denote time, are used to estimate five parameters of planar motion; initial position, x1,y1: speed, V; initial heading, H1; and heading rate, omega. The range and bearing measurements are transformed to initial position and (equivalent) straight line travel distance, D, and direction, Phi.
Document Details
- Document Type
- Technical Report
- Publication Date
- Jul 01, 1988
- Accession Number
- ADA199153
Entities
People
- Rockie L. Ricks
- Shankar Chatterjee