Sidescan Sonar Towfish Position Estimation – Final Report

Authors
  1. Kirlin, R.L.
  2. Lu, W.-S.
  3. Hedstrom, B.
  4. Leung, C.-M.
Corporate Authors
Defence Research Establishment Pacific, Victoria BC (CAN);Victoria Univ, Victoria BC (CAN) Dept of Electrical and Computer Engineering
Abstract
Currently, datawhich locates the towfish relative to the ship are deteriorated by multipath receptions and other effects. In order to overcome the serious degradation existent in this critical locations measurement, a non-linear Kalman filter has been derived. The state transition matrix for this filter has been estimated, and a means of switching between two Kalman Gains has been implemented and justified. An algorithm considering the tow-cable dynamics is proposed for improving the towfish locations estimate. Yaw and pitch models have been extracted and Kalman filtering implemented. Appendices include listings and documentation of software developed in the process of the investigations. A bibliography is also supplied to give an adequate source of theoretical background information.
Keywords
towed sonar position location;Kalman filtering;yaw and pitch dynamics modeling;ARMA modeling;e-contaminated measurement noise;robust Kalman filtering
Report Number
DREP-CRS-90-08 — Contract Report
Date of publication
01 Mar 1990
Number of Pages
120
DSTKIM No
CA041815
CANDIS No
802867
Format(s):
Electronic Document(PDF)

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