Sensor Scheduling in Kalman Filters: Evaluating Procedure for Varying Submarine Navaids

Thomas H. Kerr III

Abstract:	The evolution of an analytic basis for quantifying a submarine's detectability to likely ASW surveillance is summarized here as a methodology for trading-off Kalman filter-based INS accuracy versus ASW exposure due to use o f external navaid fixes. Fixes from various alternative external navaids are utilized when needed to compensate for the effect of deleterious INS gyro drift-rate. Perversely, use of the most accurate navaids also incurs the greatest exposure to ASW surveillance so variety in quality and fix rate is sought as a remedy. The preliminary modeling culminates in an expression that has a structural form that is compatible with the techniques and results of discrete-time "sensor schedule optimization" for Kalman filters (as associated with the submarine's INS). The detailed analytical basis of both properly posing and solving the problem is provided herein. When augmented with the standard techniques of bicriteria optimization theory, the navigation accuracy gained versus the exposure to enemy surveillance availed through use of alternative navaids (of differing accuracies and sweep rate exposures) for external INS position fixes can be quantitatively traded-off. Results are gauged in relative terms rather than in absolute terms so that there is no opportunity for any security breach. The original application scenario is re-visited and new results are obtained in converting the underlying matrix Two-Point-Boundary-Value-Problem (TPBVP) inherent in sensor schedule optimization into an exclusively Initial Value Problem to now make real-time solution feasible.
Published in:	Proceedings of the 57th Annual Meeting of The Institute of Navigation (2001) June 11 - 13, 2001 Albuquerque, NM
Pages:	310 - 324
Cite this article:	Kerr, Thomas H., III, "Sensor Scheduling in Kalman Filters: Evaluating Procedure for Varying Submarine Navaids," Proceedings of the 57th Annual Meeting of The Institute of Navigation (2001), Albuquerque, NM, June 2001, pp. 310-324.
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