A simple adaptive Kalman filter has been developed to give optimal estimation of a ship's course, speed and position giving sufficient accuracy to be useful for the processing of marine gravity measurements. The inputs to the filter are from the ship's electromagnetic log, gyrocompass and radio navaid. The radio-navaid noise is assumed to be zero mean and white, but it is shown that the filter still works satisfactorily when the noise is colored, with a spectrum similar to that obtained from long-range marine radio navaids beyond the edges of their present useful operating areas. The log and gyrocompass noises are assumed to white and nonzero mean, and the effects of these nonzero means examined. An algorithm is developed to offset the effects of the nonzero means. The sensitivity of the filter to incorrect data statistics is examined and a limited-memory radio-navaid variance estimator incorporated. The filter is used with real ship data obtained from the British ocean survey ship, HMS Hecla.

Media Info

  • Features: References;
  • Pagination: p. 1311-17
  • Serial:
    • Volume: 125
    • Issue Number: 12

Subject/Index Terms

Filing Info

  • Accession Number: 00196446
  • Record Type: Publication
  • Source Agency: Engineering Index
  • Files: TRIS
  • Created Date: Aug 15 1979 12:00AM