Estimating forces acting on an underwater vehicle with G.P.S. and Kalman filtering
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Authors
Easton, James K.
Subjects
Underwater vehicle
Navigation
Kalman filter
Navigation
Kalman filter
Advisors
Titus, Harold A.
Date of Issue
1988
Date
March 1988
Publisher
Language
en_US
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
Type
Thesis
Description
Series/Report No
Department
Department of Electrical and Computer Engineering
Organization
Naval Postgraduate School
Identifiers
NPS Report Number
Sponsors
Funder
Format
Citation
Distribution Statement
Approved for public release; distribution is unlimited.
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.