It is of the greatest importance to maintain the heave force and moment of underwater vehicles to a neutral trim state, for the operation thereof. In order to produce the neutral trim state, however, very complex operation is indispensable which can be achieved only by skillful pilots. The system described in this paper uses Kalman filter to derive the state variables, in which heave force and moment of underwater vehicles are contained, from noise contained measurements. Accordingly, it helps to load off the pilot when producing the neutral trim. Simulation results manifested that the accuracy of this system is sufficient for practical use.
Optimal estimation of state variables for underwater vehicles based on Kalman filtering
Auf der Kalman-Filterung basierende optimale Schaetzung der Zustandsvariablen fuer Unterwasserfahrzeuge
NEC Research and Development ; 83 ; 92-98
1986
7 Seiten, 16 Bilder, 5 Quellen
Article (Journal)
English
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