Title:
METHOD AND APPARATUS FOR ESTIMATING THE SHAPE OF AN ACOUSTIC TRAILING ANTENNA
Document Type and Number:
WIPO Patent Application WO/2013/167336
Kind Code:
A3
Abstract:
The invention relates to a method and an apparatus for estimating the shape of an acoustic trailing antenna (12), wherein the shape is estimated using Kalman filtering. First of all, this involves the deterministic component (u(ki)) of the state equation of the Kalman filter being set to zero. In addition, successive discrete times (ki) are predefined and, at the predefined times (ki), a respective estimated shape for the trailing antenna (12) is described by a model-based state vector (x)(ki). In this case, the model-based state vectors (x)(ki) are ascertained by the estimated timing response of a mechanical model (24) of the trailing antenna (12) and by movements in a traction point (16) for the trailing antenna (12) that are assumed to be known. The discrepancy in the respective current model-based state vector (x)(ki) is determined for one or more preceding model-based state vectors (x)(ki-1), is considered as a current matrix (F)(ki), and the current transition matrix (F)(ki) is periodically updated for the Kalman filtering with the ascertained matrices (F)(ki).
Inventors:
SCHULZ FLORIAN (DE)
Application Number:
PCT/EP2013/057577
Publication Date:
August 07, 2014
Filing Date:
April 11, 2013
Export Citation:
Assignee:
ATLAS ELEKTRONIK GMBH (DE)
International Classes:
G01V1/38
Other References:
D.A GRAY ET AL: "Towed array shape estimation using Kalman filters-theoretical models", IEEE JOURNAL OF OCEANIC ENGINEERING, 1 January 1993 (1993-01-01), pages 543 - 556, XP055116052, Retrieved from the Internet DOI: 10.1109/48.262304
J.L RILEY ET AL: "Towed array shape estimation using Kalman filters-experimental investigations", IEEE JOURNAL OF OCEANIC ENGINEERING, 1 January 1993 (1993-01-01), pages 572 - 581, XP055116054, Retrieved from the Internet DOI: 10.1109/48.262307
ESME BILGIN: "Bilgin's Blog | Kalman Filter for Dummies", 31 March 2009 (2009-03-31), XP055121756, Retrieved from the Internet [retrieved on 20140604]
NIKITAS V NIKITAKOS ET AL: "Towed Array Shape Estimation Using Multimodel Partitioning Filters", IEEE JOURNAL OF OCEANIC ENGINEERING, IEEE SERVICE CENTER, PISCATAWAY, NJ, US, vol. 23, no. 4, 1 October 1998 (1998-10-01), XP011042449, ISSN: 0364-9059
TICHAVSKY P ET AL: "Quasi-Fluid-Mechanics-Based Quasi-Bayesian CramÉr-Rao Bounds for Deformed Towed-Array Direction Finding", IEEE TRANSACTIONS ON SIGNAL PROCESSING, IEEE SERVICE CENTER, NEW YORK, NY, US, vol. 52, no. 1, 1 January 2004 (2004-01-01), pages 36 - 47, XP011104127, ISSN: 1053-587X, DOI: 10.1109/TSP.2003.820072
W. BRANDENBURG ET AL: "A point mechanical model for the dynamics of towed arrays", ICASSP '84. IEEE INTERNATIONAL CONFERENCE ON ACOUSTICS, SPEECH, AND SIGNAL PROCESSING, vol. 9, 1 January 1984 (1984-01-01), pages 194 - 197, XP055116037, DOI: 10.1109/ICASSP.1984.1172768
B.K. NEWHALL ET AL: "Improved estimation of the shape of towed sonar arrays", PROCEEDINGS OF THE 21ST IEEE INSTRUMENTATION AND MEASUREMENT TECHNOLOGY CONFERENCE (IEEE CAT. NO.04CH37510), 18 May 2004 (2004-05-18), pages 873 - 876, XP055116060, DOI: 10.1109/IMTC.2004.1351201
J.L RILEY ET AL: "Towed array shape estimation using Kalman filters-experimental investigations", IEEE JOURNAL OF OCEANIC ENGINEERING, 1 January 1993 (1993-01-01), pages 572 - 581, XP055116054, Retrieved from the Internet
ESME BILGIN: "Bilgin's Blog | Kalman Filter for Dummies", 31 March 2009 (2009-03-31), XP055121756, Retrieved from the Internet
NIKITAS V NIKITAKOS ET AL: "Towed Array Shape Estimation Using Multimodel Partitioning Filters", IEEE JOURNAL OF OCEANIC ENGINEERING, IEEE SERVICE CENTER, PISCATAWAY, NJ, US, vol. 23, no. 4, 1 October 1998 (1998-10-01), XP011042449, ISSN: 0364-9059
TICHAVSKY P ET AL: "Quasi-Fluid-Mechanics-Based Quasi-Bayesian CramÉr-Rao Bounds for Deformed Towed-Array Direction Finding", IEEE TRANSACTIONS ON SIGNAL PROCESSING, IEEE SERVICE CENTER, NEW YORK, NY, US, vol. 52, no. 1, 1 January 2004 (2004-01-01), pages 36 - 47, XP011104127, ISSN: 1053-587X, DOI: 10.1109/TSP.2003.820072
W. BRANDENBURG ET AL: "A point mechanical model for the dynamics of towed arrays", ICASSP '84. IEEE INTERNATIONAL CONFERENCE ON ACOUSTICS, SPEECH, AND SIGNAL PROCESSING, vol. 9, 1 January 1984 (1984-01-01), pages 194 - 197, XP055116037, DOI: 10.1109/ICASSP.1984.1172768
B.K. NEWHALL ET AL: "Improved estimation of the shape of towed sonar arrays", PROCEEDINGS OF THE 21ST IEEE INSTRUMENTATION AND MEASUREMENT TECHNOLOGY CONFERENCE (IEEE CAT. NO.04CH37510), 18 May 2004 (2004-05-18), pages 873 - 876, XP055116060, DOI: 10.1109/IMTC.2004.1351201
Attorney, Agent or Firm:
LECOMTE & PARTNERS (Luxembourg, LU)
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