The Autonomous Underwater Vehicle (AUV) must be able to operate in various shallow water sea state conditions. In order to have a precise navigation and steering system, and efficiently place charges on underwater mines, the AUV must be able to sense and overcome hydrodynamic forces which are caused by waves. This thesis establishes a model of sea state conditions based on spectral analysis, and uses the model to predict future knowledge of the sea. This prediction is determined by the random white noise output of a discrete, digital filter. The development of the discrete, digital filter is described herein. The Pierson-Moskowitz (P-M) spectrum which models seaway elevations using linear wave theory is used as a target spectrum which the filter will track. Cross-correlation between the P-M target spectrum and digital filter have shown that a reasonably accurate estimate of wave elevations can be predicted one full wave period into the future.
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