An application of Kalman filtering to underwater tracking
Benson, Eric James
Titus, Harold A.
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A program was developed to improve the on-line measurement capability of the three-dimensional, underwater tracking ranges at the Naval Torpedo Station, Keyport, Washington. The progress utilizes a Kalman filter routine to minimize the effects of measurement noise in determining the true target position. The gain schedule used by the filter is calculated off-line and may be varied based on tracking requirements. Listings of both of the Fortran programs are included. Simulated exercises were run utilizing a variety of gain schedules. Results of these simulations will assist NTS engineers in the implementation and operation of the program using the NTS computer facility. Details of the simulation procedure and a listing of the track generator program are included.
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