Accession Number:

ADA199153

Title:

A Uniqueness Proof for Sonar Motion Estimation

Descriptive Note:

Rept. for period ending Mar 1988

Corporate Author:

NAVAL OCEAN SYSTEMS CENTER SAN DIEGO CA

Report Date:

1988-07-01

Pagination or Media Count:

2.0

Abstract:

To establish the groundwork for estimating circular motion from sonar measurements, necessary and sufficient conditions for the existence and uniqueness of a motion parameter solution are derived. The measurements, range, range rate, and bearing, for a point on a moving object, are assumed to be matched, i.e. associated with measurements of the same point at a later time. These six measurements R1, R2, R1, R2, B1, and B2 subscripted to denote time, are used to estimate five parameters of planar motion initial position, x1,y1 speed, V initial heading, H1 and heading rate, omega. The range and bearing measurements are transformed to initial position and equivalent straight line travel distance, D, and direction, Phi.

Subject Categories:

  • Acoustic Detection and Detectors

Distribution Statement:

APPROVED FOR PUBLIC RELEASE