Dynamic position measurement system for array of sensors towed behind vessel

摘要

The position measurement system uses an inertial measurement mechanism (42 - 50) for determining the position and orientation of a towed network of sensors used for the detection of targets. The system uses an master inertial navigation system on board, and a relative position measurement device for determining and estimate of the position of each towed device in the towed network. Each inertial unit provides information regarding force and angular variation and this is used by an on-board computer to provide a second value of the estimate position. An error signal representing the difference between the first and second estimates is derived and processed using a Kalman filter in order to provide optimum accuracy of overall measurement.