Fixed point smoothing algorithm to the torpedo tracking problem.
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Authors
Karaman, Sadi
Subjects
fixed point smoothing
torpedo tracking
sequential extended Kalman filter
torpedo tracking
sequential extended Kalman filter
Advisors
Titus, H.A.
Date of Issue
1986-06
Date
June 1986
Publisher
Language
en_US
Abstract
A sequential extended Kalman -filter and optimal
smoothing algorithm was developed to provide real time
estimates o-f torpedo position and depth on the three
dimensional underwater tracking range at the Naval Torpedo
Station, Keyport , Washington. The measurements consisted o-f
acoustic pulse transit times -from the torpedo to receiving
array, which are nonlinear -functions o-f the positions and
the depth o-f the torpedo, were linearized and -filter gains
and -filtered estimates o-f states calculated. By running the
smoothing subroutine, all past -filtered estimates o-f states
and error covariance were smoothed. The program was tested,
using simulated torpedo trajectories that traversed both
single and multiple arrays, on an IBM-PC. The results showed
that -filter performance was dependent on system noise and
the distance to the hydrophone array -from the torpedo and
the smoothed estimates of states and error covariances were
better than or equal to the filtered estimates.
Type
Thesis
Description
Series/Report No
Department
Electrical and Computer Engineering
Organization
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
Funding
Format
117 p.
Citation
Distribution Statement
Approved for public release; distribution is unlimited.
Rights
Copyright is reserved by the copyright owner