Enhanced positioning of subsea vehicles-some practical Kalmanfilters

摘要

This paper describes the positioning problems which are posed bythe increasing use of subsea vehicles as platforms for sensors such asside scan sonar, presents a discussion of the fundamentals of Kalmanfiltering and then describes the implementation of two such filterswhich have been designed for the specific purpose of improving theknowledge of position of a tethered subsea vehicle. The discussion isdeliberately based on physical rather than mathematical concepts, andmathematical formulae are used only for illustration