Target tracking onboard an autonomous underwater vehicle : determining optimal towed array heading in an anisotropic noise field
Name
232640181-MIT.pdf
Description
Full printable version
Size
8.5 MB
Format
Adobe PDF
Checksum (MD5)
d97b83574f4a5f21fc575f93729c54b9
Author(s)
Parra-Orlandoni, Maria Alejandra
Advisor(s)
Henrik Schmidt.
Date Issued
2007
Publisher
Massachusetts Institute of Technology
Abstract
In order to overcome the challenges that an anisotropic noise field poses for underwater target tracking, we conduct an onboard estimation of the horizontal noise directionality in the real-time processing suite of an autonomous underwater vehicle (AUV) towing a horizontal line array. The estimation of the noise directionality is a precursor to another adaptive behavior: optimizing tracking capability of a towed array by choosing a particular heading that minimizes the detection level in the target's direction. In each distinct simulated anisotropic noise field, the AUV successfully calculates the optimal towed array headings based on the real-time estimation of the horizontal noise directionality. The findings reveal a clear advantage over the conventional broadside beam tracking method, with some limitations due predominantly to the noise field itself.
Description
Thesis (S.M.)--Joint Program in Oceanography/Applied Ocean Science and Engineering (Massachusetts Institute of Technology, Dept. of Mechanical Engineering; and the Woods Hole Oceanographic Institution), 2007.
Includes bibliographical references (p. 73-76).
Subjects
/Woods Hole Oceanographic Institution. Joint Program in Oceanography/Applied Ocean Science and Engineering.
Mechanical Engineering.
Woods Hole Oceanographic Institution.
MIT Department
Joint Program in Oceanography/Applied Ocean Science and Engineering
Woods Hole Oceanographic Institution
Massachusetts Institute of Technology. Department of Mechanical Engineering
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