Towed Array Shape Estimation based on Kalman Filter Compensating the Sensor Bias

TASS(Towed Array Sonar System) is a sonar system which tows the sensor array behind a platform. Array shape is generally assumed to be a straight line. But the array shape is often distorted by oceanic current or platform maneuvering which causes the performance loss of signal processing method like beamforming. So array shape estimation methods are needed. Typically the method based on Kalman filter using heading sensor is used. In practice, the measurement is corrupted by biases which are caused by rotation of the tow cable, varying magnetic fields and slowly varying stresses in the mechanical construction. Although they can't be calibrated but can be estimated. In this paper, we suggest the array shape estimation method based on Kalman filter compensating the sensor biases.