In conventional passive and active sonar systems, target amplitude information (AI) at the output of the signal processor is used only to declare detections and provide measurements. We show that the AI can be used in...
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In conventional passive and active sonar systems, target amplitude information (AI) at the output of the signal processor is used only to declare detections and provide measurements. We show that the AI can be used in passive sonar systems, with or without frequency measurements, in the estimation process itself to enhance the performance in the presence of clutter, i.e., in a low SNR situation, when the target-originated measurements cannot be identified with certainty. A probabilistic data association based maximum likelihood estimator for target motion analysis that uses amplitude information is derived. A track formation algorithm and the Cramer-Rao lower bound in the presence of false measurements, which is met by the estimator even under low SNR conditions, are also given. Results demonstrate improved accuracy and superior global convergence when compared to the estimator without amplitude information.
This paper addresses the problem of designing guidance, navigation and control systems for Autonomous - Unmanned -Underwater Vehicles (AUVs) to achieve accurate tracking of reference paths defined in a universal refer...
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This paper addresses the problem of designing guidance, navigation and control systems for Autonomous - Unmanned -Underwater Vehicles (AUVs) to achieve accurate tracking of reference paths defined in a universal reference frame. The theoretical framework adopted is illustrated with a design example in which recent developments in multivariable control theory and classical results in navigation and guidance were applied to the design of a trajectory following system for the AUV MARIUS (Marine Utility Vehicle System). The key ideas in the design methodology are to clearly state performance specifications in the frequency domain, and to use design tools that explicitly address these types of specifications. Thus, the natural constraint that the navigation, control and guidance systems have decreasing bandwidths, can be directly incorporated in the initial phase of the project. Analysis of the integrated system is performed using a simulation package that allows the user to assess the impact of the navigation, guidance, and controlalgorithms on the dynamic behaviour of the vehicle.
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