Accession Number : ADA194339

Title :   Estimation Forces Acting on an Underwater Vehicle with G.P.S. (Global Positioning System) and Kalman Filtering.

Descriptive Note : Master's thesis,

Corporate Author : NAVAL POSTGRADUATE SCHOOL MONTEREY CA

Personal Author(s) : Easton, James K , Jr

PDF Url : ADA194339

Report Date : Mar 1988

Pagination or Media Count : 64

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.

Descriptors :   *GLOBAL POSITIONING SYSTEM, *UNDERWATER VEHICLES, FILTERS, KALMAN FILTERING, THESES, MODELS, SEA STATES, TRAVEL

Subject Categories : Submarine Engineering

Distribution Statement : APPROVED FOR PUBLIC RELEASE