An application of Kalman filtering and smoothing to torpedo tracking.

• Main Author: Isik, Mustafa
• Other Authors: Titus, H.A.
• Language: en_US
• Published: Monterey, California. Naval Postgraduate School 2012
• Online Access: http://hdl.handle.net/10945/20070

Approved for public release; distribution unlimited === A sequential Extended Kalman Filter and Smoothing routine was developed to provide real time estimates of torpedo position and depth on the three dimensional underwater tracking range at the Naval Torpedo Station, Keyport , Washington. Inputs to the routine were acoustic pulse transit times from the target to receiving array elements which are non-linear functions of the position coordinates. These inputs were linearized and the filter gains and filtered estimates calculated on-line. By using a smoothing subroutine, ail past filtered estimates were smoothed. Tests were conducted using simulated torpedo trajectories that traversed multiple hydrophone arrays. It was found that filter performance was dependent on system noise and the distance the torpedo was from the hydrophone array and the smoothed estimates of states were better than or equal to the filtered estimates.