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Comparison of Kalman and least squares filters for locating autonomous very low frequency acoustic sensors

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2 Author(s)
Culver, R.L. ; Scripps Inst. of Oceanogr., California Univ., San Diego, CA, USA ; Hodgkiss, W.S., Jr.

The Marine Physical Laboratory has designed, fabricated, and taken to sea self-contained, freely drifting acoustic sensors which can measure signal propagation and ambient ocean noise in the 1-20-Hz band for up to 25-hour periods. The deployment of several freely drifting floats forms an array of sensors whose outputs can be combined after the experiment with a beamformer. A Kalman filter and a least-squares estimator have been developed to estimate float positions from travel-time measurements. Computer simulation is used to compare filter performance-under several deployment scenarios. Results show that the Kalman filter performs better than the least-squares filter when the floats are subjected to small-magnitude accelerations between measurements. Neither filter was sensitive to relatively major changes in deployment geometry as long as the sound-speed profile is known exactly

Published in:

Oceanic Engineering, IEEE Journal of  (Volume:13 ,  Issue: 4 )