Estimating forces acting on an underwater vehicle with G.P.S. and Kalman filtering
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...
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| Language: | en_US |
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Monterey, California. Naval Postgraduate School
2012
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| Online Access: | http://hdl.handle.net/10945/23210 |