Title :
Nonlinear Kalman filtering of long-baseline, short-baseline, GPS, and depth measurements
Author :
Bell, B.M. ; Howe, B.M. ; Mercer, J.A. ; Spindel, R.C.
Author_Institution :
Coll. of Ocean & Fishery Sci., Washington Univ., Seattle, WA, USA
Abstract :
Moving ship tomography measures acoustic travel times between transmitters moored above the ocean floor and hydrophones on a cable tethered to a ship. The authors consider a Kalman filter that determines the location of a subarray of the hydrophones near the end of the cable. A long-baseline tracking system, consisting of floating buoys and the ship, acoustically measured the slant range to each hydrophone. The range to orbiting satellites was measured with the Global Positioning System (GPS). A short-baseline acoustic system measured range and direction from the ship to a beacon on the cable, and to each buoy. Depths at various points near the hydrophones were measured using three different pressure sensors. The Kalman filter combines these primary measurements and some supporting measurements to form an estimate of the buoy and hydrophone locations. An iterated correction step is used to adjust for the nonlinearities and an outlier detection scheme to make the filter robust
Keywords :
Kalman filters; acoustic signal processing; acoustic wave velocity measurement; bathymetry; filtering and prediction theory; hydrophones; position measurement; radio direction-finding; satellite relay systems; GPS; Global Positioning System; Kalman filter; acoustic travel times; beacon; depth measurements; floating buoys; hydrophones; iterated correction step; long-baseline tracking system; moving ship tomography; nonlinear Kalman filtering; ocean floor; outlier detection; pressure sensors; short-baseline acoustic system; slant range; sound speed measurement; transmitters; Acoustic measurements; Extraterrestrial measurements; Filtering; Global Positioning System; Kalman filters; Marine vehicles; Sea measurements; Sonar equipment; Tomography; Transmitters;
Conference_Titel :
Signals, Systems and Computers, 1991. 1991 Conference Record of the Twenty-Fifth Asilomar Conference on
Conference_Location :
Pacific Grove, CA
Print_ISBN :
0-8186-2470-1
DOI :
10.1109/ACSSC.1991.186428