Estimating forces acting on an underwater vehicle with G.P.S. and Kalman filtering
By: James K. Easton, Jr
Contributors: Naval Postgraduate School (U.S.)
Publisher: Naval Postgraduate School
Published: 1988
Place of publication: Monterey, California
Language: eng
Number of pages: 55
Subjects: Electrical and computer engineering
Description: 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.
Notes: Thesis advisor(s): Titus, Harold A.

"March 1988."

Thesis (M.S.in E.E. and Electrical Engineer)--Naval Postgraduate School, March 1988.

Includes bibliographical references.

Approved for public release; distribution unlimited.

US Navy (USN) author.