Estimation of sonobuoy position relative to an aircraft using extended kalman filters.

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Author
Brownsberger, Nicholas Mason
Date
1979-09Advisor
Collins, D.J.
Second Reader
Layton, Donald M.
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Show full item recordAbstract
In airborne anti-submarine warfare there is a need to
more accurately determine the positions of sonobuoys on the
surface of the vater. This report develops two algorithms
which employ extended Kalman filters to determine estimated
position. The bearing from the aircraft to the sonobuoy is
the primary measurement. Range information is not available.
The first algorithm is a six-state filter which was reduced
from the 13-state system developed by the Orincon Corporation
Its states include relative jjosition, relative velocity, and
inertial misalignments. The second algorithm includes two
cascaded Kalman filters. The primary two-state filter
estimates sonobuoy position. A secondary filter estimates
drift from information obtained from the primary filter.
Both algorithms successfully estimated sonobuoy position for
simulated aircraft data. The effect of a ircraf t-to-sono bucy
range, the frequency of measurement, and changes in altitude
are also analyzed.
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