Parallel Implementation Of Recursive Weighted Least Squares Estimation For Source Dynamic Motion Evaluation
Ferial El-Hawary · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1989
This paper treats the problem of source dynamic motion evaluation in underwater applications using recursive weighted least squares estimation. The issue of compensating for underwater motion effects arises in a number of areas of current interest such as control and operations of autonomous remotely operated vehicles, underwater seismic exploration, and buoy wave data analysis. Earlier treatments of the problem relied on frequency response methods and Kalman filtering. The present paper discusses the compensation problem using an alternative discrete model of the process and proposes use of the recursive weighted least squares algorithm for its solution. The algorithm is simpler than Kalman filtering in terms of the required knowledge of noise statistics and provides an attractive alternative to Kalman Filtering. Emphasis is given practical implementation using parallel processing and systolic array methodologies.