slaser wave estimation 00prepared for: i p"'the naval ocean research and development...
TRANSCRIPT
I I i
III
SLASER WAVE ESTIMATION
00Prepared For:
I P"'THE NAVAL OCEAN RESEARCH AND DEVELOPMENT ACTIVITY
NSTL Station, Mississippi 39529
Contract Number: N00014-88-C-6031
1 15 June 1989
i Revised: OTiC1 15 September 1989 D PT EI
Prepared By:
FAGIN SYSTEMS ASSOCIATES, INC.1311 Remington RoadWynnewood, PA 19096
- -(215) 649-9589
'FE'PORT DOCUMLNIAIIUN -'IAL- - .OMB No. 0704-0188
PuO i¢ fep>Ofli, burden toe this coilectIofi 04 Intl1.Stion is stlmated to aIenage I r~olJr per response. inctuding the time tot revl.wing Insltructiona. searc;hing aisting data .o'urc;¢s*
gathering and maintaining the data needed. "n Com Ptting and r e%.e ng the co ltion Of Intomtlon. Send comments regardling this turden estiLate or any othet aspect of
trig co.lectio1 0f inIt l., .. r lokctudng suggestins 4cr eduCing this burden, to Wuhng Io Headqua lters Se4ces. DireCtorae tot Intomis lon Opedrtlons a"d Rapots. 1215 Jiftiers"n
Oa-is Highway. Suite 1204. Alington, VA 22202-4302. and to the Office Or Sanagtment and vdget. Paperwo. Reduction Project f0704-0168. Washingto4. OC 20603.
1. Agency Use Only (Leave blank). 12. Report Date. 3. Report Type and Dates Covered.
11 June 1Q89rr-c. t Nnn1L-P-R-6(Y-6n
4. Title and Subtitle. 5. Funding Numbers.
Laser Wave Estimation ptam Emen No. 11224 N
Project No. 00092
6. Author(s). rss No. 008000S.L. Fagin
Accessionl Nc-DN2 58. 11.
7. Performing Organization Name(s) and Addies(us). 8. Performing OrganizationReport Number.
Fagin Systems Associates, Inc.
1311 Remington Road
Wynne Wood, PA 19096 CR N00014-88-C-6031
9. Sponsoring/Monitoing Agency Name(s) and Address(es). 10. Sponsoring/Monitoring AgencyReport Number.
Naval Ocean Research and Development Activity
Cdde 352 CR N00014-88-C-6031
SSC, MS 39529-5004
11. Supplementary Notes.
12a DistributionlAvailability Statement. 12b. Distribution Code.
Approved for public release; distribution is unlimited.
13. Abstract (MAximum 200 words).
I- Subject 7Termus J" , b !F c
[34 ____
Lidar, Multispectral, Ocean Optics r..c' o
Unclassified !Unclassified :Unclassified
Laser Wave Esturmatior,NSTL Cartract NCOO(14-SE-C-bO'1lPreoa!'eC by: FSA inc.. ,Wynnew~ood, PA
TABLE OF CONTENTS
Sec P /Er a.; Title F acajE
1 1.1L TP j' 1'. 4
3, COG D U' CDICN G O LD R:E SULT S
THE LOCKHEEED FCC MODEL5
4 C RESULTSE USING Bk'SELINIE F7C MODEL(ATT ALTS )
4.Plot of Sicama of W~eHeicht +63 No~seE=-tima.tes For- 2 Sec.42F'lots of the Estijma te= of Fitch 7
a.nd Roll4.: Plot of Sicjma o-;- Wave Heic~ht +S
rci::se Estima~tes For IC Sec .
THE EFFECTS OF VAR,' IrG FA-R AM E 7EP FRE8I *~r\'inotnie t.nadDe-vi.t ion ofWin. ,d (3LUS tS k -1T T AL I i
Effect of Va!-vinc4 Wind GUStCorrfelation Time (r,-TTAIT7Y)
\'a t-- in c W a.' HE icj'ht P IUS MEaSL)VCrien L c Ni se (ATTALTZ
1 6. C:SIMPLIFIED MODEL FOR LONGER1(W 'E S ( ATT-M iL T q
3 ~7.~ P'u ULSE REPETITIONI RITE 141,D El,"M ROTATION RPTE
I .K ONC-_USIfNS "'ND REOMNDI N 12
FicQUres- Used in S-:ections- 1 to 714
I Refer-eces
A1 THE CANONICP-IL MODEL -
D E THE PF7C MODEL '26 [Por
C RELAT I ON'SH I FS BETWEEN EPRORS IN'I EPTICP1L. AP1TTUDE A1ND WAVYE0HE IGHT _
I ._Distribution/
IAvel1ability Codes
I jAvall and/cr -2 Dist Speoal
Laser Wave Estimatior.NSTL Con traC* tic -ECb3Prepared fly: FSA inc., Wvnnewcoa,
1 1.0. BACKGROUND AND INTRODUCTION
1.1. Background
~ vbrne I e *thrcmnmeasourament of the rtr r~fo
t~e c~cc £~.f~4. t '>ord E ar~th-o '"or the s_- 'd. of c:&n VE-,
_tnc C uI El-'.ncc. T heoC- 0 CC!Z , ci,1V Fri a S ULfT .c iefnlt fln m.er t-c
ncI , ' 1flC t-) iF>E-ft, t =nt- '- be p=csoi ole to: ot.:ic 1r a deE- r1 i jt on of
t r- cr a-E E- t 1e& E-1 a Z U f--E as: the IDS7ErF ME&E.Ut-eient.
Howe e:. t rr e im tE n f r e c Ev - : !D_ Et rna 5 U C-M E Z. 'Oto et' wJ3.t the
-AC:t tha:t tc s-ir a f-IEC e 3 a O.s c 1n iLUOL_ 1 V Lhang. ar, mnal.e= tne t&Vl!iriQ
5 f a "-ao Ot f tr)e ocean surface e-rceec inc v i Iff 3.cLZtU
e-m aert a co i th-ie U . S. tNa'y .ronsor-ed tho;- cdev.emiient of
3 ; n E. .- rr ae u' ' Tbis av =5Ponrored vwor-. FEf erences t
5 to 2', E~~~e nacoatimm an a 7 Dfw'TR A1'1 C-OffDOter- mirogam thit
tool.trr:aaetvc aaa 1c2E c~a. a:rr.tatttUDIE.
I a~rcraft a tatL~de.Ear ra dit~r'et :o-_ bottor and ~ _
-tr!_ Kfl to 41-er~t h~r'E a I F te c: rE, E m f . o cr. T e
UM rC E?.I C4 Z D ' we U0; t IiTa & I ta, a i tr 7m eo~' vwh ich1
COl~~ hrE~ thi: ect-i-Etiofl Doolen in a camnicE Z I2 1-of-o
7, nJd e I . oat of t r s--= m o d el ,j;- a, -em p I f ec reroresenmtat ion r_-f
3 wavc neiohts a=_ Mar cof fj ~ar (e ronenitlai i corre'lEted) noiE-e.
S:mnlicit- .n the alcijor thm was arn e~timzte for wav.e hieaocht
3 Hoeve, t-z ~'mta~re-fJectino economies i.n mociellIanc, could
rgt relect - te fulozn a ~crc neeta h aset
a a
Laser Wave Estimatior5 W~KITL Cotra7-t WN iX'114 E-:3Preparec t,: FSA in:., Wynnewood, FA
1 1.2. Introduction
I "Iet e ~:. f- I c :: t . r 1 -7\/ tI E ~ t r'~ Em E-f j
5c,.- i b :r.o -- " e' - c.) t h a e -T.r, C. !j f w e r ht- e ,-o E1 . p cf .
E , L-J.E. 10 -D ,-, ,C.E id V"E '.l t E y2O'l v deE,- t. - a ec
,t r) 2 t n. C,"; - r 7r , ag r'-'flt t ain the :k .e r-:c
t- 1 tri 'C -u ! -" &0ee ft]. 1 - u s2 1 f- [ - v er tFe
I ;D AiO~t 'F I Lc- t i d I e E-7 n ; e om f - I e I~ CE tf t eTm p v O S I, e .- c~ e E r i te d : .n b e E t 2 l _ _':. _ 2 c~ , 4 O e Z -lt bE2- t re e
,e I t. -, U. . r, c., ;;r . . -Ti 7 Ghe r E S L t 0 v , . -
1d C. -- i.It i , iF f EI.C O e E t OF, lime, End the
0%rr -_,-, 1 z'i. t .o-, o cc -m n ed wv e hei r on, ar-, o mc T-:E-- ' ' M E- _ F-- ) t'I ,CSe -e - r:LZ e in -ect ion.. 5. - tave e h_=. Ch ;_., i ,t i c
iOf dEE'D Sl--F, , .'" ! t Ereot. a mocci VE,.". .t Ji. LEn E
eot;nE,-E- C E.'_E'E1E vs-u-'ee 2 -oht eno meaSE mert er-t-o;- sea S) e; "E.' -_ E. I! e, w- h
" i, h' n c? -- 7 Li ea en .-cI
£"OE-0 0 .. _ _ 3 ..,r 7 . Th e" t o vr ri no plse .
r.- ,r) L -E ...... f t E t_- e d s E: E.,:d 7n :El n -
Con J.E ,r and E I a,-E =S c r-- _f _...!e f-_urther wo,-< ae 3.o l en
2.0. REPRODUCING OLD RESULTS
SWc- L eoar, e ,v reor oclL.tCina the -eoult of Re eence 5. Thne
t i 't Og t w PS Set UP I r-; iBM TRn
F I _0 e rIT , .- . 1 M 1 . -e C e M 5LlFfU -a e , t i o n VS i a n cU
InC- O ' - . i c o IcT U.jL e i ..- Tr for 2 n oeO-e e se er"r in
Sth pl nr, .n- roil. 1:,ide from t, i p t, ar, r, - ., ther-o weren,- a c- 1oMal I E t Z. 1 0,.o - . Tr, i . s ,im,-- e 1iM L t lon is L, ,-
t;hrouDhOIt = seouol 'Tni7 pnooarr ei to SA ATTALT2.
II
Laser Wave Estimatior
Pr-eparec ny: FS in~c., Wynnewood PAtatNC1-ECb:
5TiIhe p-ootranF WaS, C e_ ' tCo VEp-, ty co-lrect OpEraFt iorj
'c~o n .. et w-ii t h th Ie 1 _E SoI t~ E' R- Eeence C.. I t sc,-c became
e3 Jv dc- tr t the tUr t : t e Mod, C1FI 4s i n -,d f.7,qU jte f o r tWo0
. i a ~E e r - -1, E 1 iEt ed j n p it ch , the ATTALT2 Filter-
5Froc rEa. woL' .c comre -zl1ose to est imEat iric th Is n 1akE whien
the l.:ker t ore S o r t- s, t-. Hcw e,.,er.- as soo_, ,n a L ' -hE.
PHar TI &E & t IVjai t h iI D the e-StIMate WJOUtl d ri4 ft
towa i-d -_ r-o ccn sioT-t enit wi1tII- t heM.kr- c h~-r f 1.n mod:) el 2orC 1
Sa ea e t _i:R t io. mIMi I E t LUrn Ea- 1-ciL t FoE1 tRIrti S t o roll.
TtriL'=. at 1.i-E.S two aCrd.ition.fli statos reE necessar, for-
£Rr-and roill bi&Es eri-.-
KL ro i 5 FOATTALT'. it was Fesa vt- redL1Ce; the
I'~oe~z iat ion ftrie Ditch n d o .frol ;ot io to) r, 2
cl a d e o -e e and t he ve:-tI. c & moci-or iz.rmoo de I. staEn nc.ro c
-1 _ -- t o on of v ert-t i c +I Tol m o n t o C I CC I me .e r r , in
to7 Cr E' =o v aoUrEtc v 0 f es t I TEt t IiF QWOEiC he E- It
m e jremenit n- o: I e t o thre co--e of e 9 t- c, ~ v f- E
5 ~this morie of aicatmotion coins ri t with
T hese n.bse!_rvat ions led to the conclUsion that a E more comrp le
£ model for ircaf rotioc_ wa neoesEarv ,. After- some fljrt-inu
with two =state monslE;, cast-, for- pitch. roll a-nd vertical motion
3 a-e- uz: '.; n.ne stzte=) . it wa.- deciced to gtros the bL11 172
the horns _anc emolov fUll MOdE'] for- aa rcrait mot ion, & S
3 Oescr-ibed i7, Se_'ur beow
4
Laser Wave EstimatnonNtCL7 Cotract NO4B--CPrepared t.,: FSA rn.newoc, FA~
3 3.0. THE LOCKHEED F'3C AIRCRAFT MODEL
3 r- ir~ ior r- into t1h e t-Ire of uL. 1 a 2 r-c:at moft io r-
TiOoE s PmF- .ovec eql--Itltorns o f T!o 0o fro T 'efi~ nE 2. .I7 1- 17 A
tOc rpe.ntt> of tne FC'C iairoraft Us=-ec for, fileld tes~ts. As
5 it t ~fECI d~t ou P trt 1. -cu tc: W th this mode.l did not ciffet
c~n- 1t o-arn t *1 k, i to r- t-Ls) tS U S i n Q t he F C cdC - Ie . C -rns1e 0Ue t 1.
~e rernsae :a s= c0± o- d14ti re rt IF-11 Z put10-:: o o fr- 1 the P7C a i r-rat
I oamed thr"lOhi the oocod o,+f .ces. o f r-in W1. Cl1a.r[,. Jr
ero&C En .ro i eer- at the Nay;,- 1 iun i -DevE oment Cen ter.
Th~ese niffer-ertiai) eo at or?'.:.. toOet'her- wi~to h1 -r1~.~
£ 0toinan ot~- om of Eo m 1 IT, mn) 1> - 'O-..e: ar!e
e '=c-bT-1o in P~d." ~.Te fT 1.c- cn d t :. CnsI tN c,. 15 i n7_ 7.~: e,- I n-t.s e ev s: i ie t oe : -es
I o Dr E, 1 r, ;.as m& c 'ohe eff ecots Of Zci lot C:,: EUtOci lt in
tI C, m:Is Th a a .cor. (IP i on ssup ~ in --e?
3 ot~~~~r-~I f & t- z i o- ar o c. 4~Jdt~ oome
£ ~~~ ~ i ThApaaet- ovr 0Hpeno 1.:. B arte r-efeiv'red to ais the
n s i n e mod e I Thi= s &l>ne model EkSeumeee at tnd r EVI~ttlor
wza-,e height Pl us meaSur~ement noise of C). . meter- with eacO-
I ~ EUr rr- Oa>ing inderoenoent errors. the wind ojust model
Essme a Ftadad de.':t 1O or,2f w . nd o Us-t of 0. 2C 'ad jai C 17
de, t-) moder-a te c ond it .on. rod ifctin to this .tsele
3model vjer;a mao a descr-ibed ir. the secue I
Laser Wave EstimationNSTL Cortra:t N( 4-8-E- (1Freparea b.': FS- 1nc., Wynnewwo, F'A
3 4.0. RESULTS USING BASELINE P3C MODEL (ATTALT8)
5 The P7C b&:cllre mode- was ,na>l-E ,-,;ir- the ATTALT8
I d i E 2 7,- C t T t $ - e C- i iEl S t- r t" CL on
D IL the f ift -r e-t m ts t P ..r... A F'M -t-a Ee ecame &
3- Z:, CTL E em Ez o' e e~r E v cj &t t i3 f - itc-- n e .r- a E s E to Z, E
. . .. L. tL t._- 4C.cM C. _ A s F. Me tE- de tCee f me
EZ E 4 ._,. L. .e W - Cj - e t .E e -te r l
z ,Et :D t -t =. z , E .3 n e
4.1. Plot Of Sigma Of Wave Height + Noise Estimate For 2 Sec.
a a ..r . C l t s a s ta (,,.e dd e, ion o te Ft t -I LIof E !'e ric, drt Z luS ,ME&E.m remfer-t FiO i s- P.= the, a.tre IiUmr:, c -tO eh ..
Ii 'n th.="7 , e ;- 1el Tne -z. 2 pr Z. 1 standa c'd e r ., i -1 Or ': 1 or, US
I and -ir, _ were 2, Lt 7d after ev er- f ifth azSer range
al-e;eu e. t EE .
5 ~-tha't t-he aEtardar-f devi~qoTaoLcn ofI ta e w-t re ate of W CRE
e :4 ohi 1- j r71e$L'7r- t n:.-isp J- bette. r trhan 0.~1 te - -b t r
-than tre a L', .V C of the m, emer- L I itse].f. 7f cc, -_ tt if.
-o-.ibie to know the sum of two cuantities very accLW-.t.lV
Li tout I:nowi~nr wnich of the two this SUrfm ]-eDt-esents. To obtain
3 an E.-r;. iate -tardar-.d O-i.~ai~-of "he Wae e=c-titE, the
c~t_:nrZd oe:I a 0 wtr,_, plus meesurement nc.se muEt be RMS d
I I t - th _ iTieE FI--ee Mtl _ D I Ee. That Ls. i f the . devi at .on
m of t e t i.- , f '..._,
r7, cG t ] ETte, SU t e n, ent no].s,-, 1 E 0 . -. L;
meter and that of the measurement error _ 1 meter then the
Et
Laser Wave Est~matiorNSTL Cont rac t N(v)O I4-86-C-bCC.t-Freparec b : FS,' Inc., Wynnewc~o , FA
Ires&1l t,.nc4 =-t anca -:d -- - : , , or-, e~ h. e i :-41-1t 's rT,: F
the 1 i rr, t ci zkc. c a u- ie- Lri:er &1 rror Ert tin :Do Iy
a- Ci :n a t " m tm h - he iC, t & Ti C mt' vJ5 E IC7'
meter.
'he .o n r-- QL I F I d mp 1, J., c n s clard le ~~5ret
tq - & tim second caric. art of tn scn
*jr D 7 1 r-,4--
H Z'V4 riO v. FL t h is t--. 1 i r- nIG l-, F- 1 a mT~ if t he - f n dlmen
cmrjorsnt. It turnr-s CL~t t1at tihM han ie i. s (T f --r- 71roucn +tim::I: r,
iudiet, CoMirDMoE-nt 5FO Voe E &. c: c:L 1 r-- g hEF- , , E.i t r--'
&1vtd~ erro!-. Thme -mitch andG =1 t,. - tLt UE w ac:t:1e'di
I r.~ CitL tr wa! - b!nit- .tct w n ~LnE :z rt e .- ft T r,
ca~rc att_ - T" cF E,; 1- 7re. LVF e 'a r ie,-i tc '.- ' - 4- -;7 .
14.2. Plots Of The Estimates Of Pitch And Roll
T, 0
Z72. Ci C,'j: C: & CEtT5 Zes E.* t1m c!4-
1 i1 i't ic> Icient E?~a :in t 1 '- Elue -F t h CC :t c, 3 z-.r
£ &-~ c i: to i z ot cr, COi :o rv.1 to 0oe a n'd I Coad z. NotE th-at
ht~c h c:cmarn o! bi].as cstirn; E~c~ acnoroach 2 dec~rme >
c eT uc z, ti t:i -e sF m;-,. c-f bI i. ioe'e n each case, tim
be ie - tan tn-s c )1 tiE c:rT, nonE ~s.
5 ~ ~~,-ser wa~e Eta~cNSTL Contra:t N((1')4-B6-C-bi'1,
5 4.3. Plot Of Sigma Of Wave Height + Noise Estimates For 10 Sec.
5 F 4 7 -~C e iE 1 ic- P- E F 6h -~TE E le 7.in : rD- It i . E a s
I ti t Ee rE lt e cr c~t E- n~ Z*-e~ at e c c-td hre tcni
S, L -E- E-T
t'~ de I-C c-lFF- n -a c
E7. &~C I~i1i &~ (TIE E T, P- 1C
p c,: t h E- r-L, ~ t F;e -n t
t t.-l<17 tt tE ~t iiII c Jx 7C1.t- L r~r
5.. THE EFFECTS OF VARYING PARAMETERS
551. Varying The Standard Deviation Of Wind Gusts (ATTALT-7X)
I~E t -I Oeato.C cv LL)tr m t I. w7nz rx 0i-roa -Xusl rF
h c: t hF c- UL .r-! Et rp- Ot t. d i
F-- ~ .LL' I h ES lt- 1-inCii -.- - a thz: Z-&C 1-.rc 0 ro JeV1Eat ir-'I ; ~- T- .7,tE, t - a neiC2-t p i U5 -01 E i - cD rsl1 ri' E. S at E-c,, oce d
ir. a-e1 CTe a . "ievet. it SthOLld be rerrerztered that thE-
I icmt-t o O CCCLYa.'of the iest: mate ct vjave hejo-ht a -lne-
the -v o cc-the7 fea -L' rement.
I Tce arcv c't , be L thoo-cht c--f a-ca. ore or Jeoc -tab~
3E IafoM VJ Ih t he aer !-eern = v1.n -i.c, o Worn c-ic tc- ico an .n d 0
Za~er Wave r. ,dtlor
Prep t: F , in: ihin.,-trew- G
a d -ft. Tr e n,c-tj-r o4 the a t- t th'a t te> t --
v"-a t ThIEt *r .- Itt 'lzE, ct . 9. i 8:22L E,.-JZ c-E v r : u!,u, [ flt.E rO1E&-. rI,i._:
C = .. 4-,W E C E -. C EV ?E LWT: i
- 7 rt<- ! *- C-
i- rn:c:m& EWF572 e : cCraETE -I C " - +r, L j C-- 'Z ' , - T lT - :,l ? . t7 ] E .- , C L
5.2. Effect Of Varying Wind Gust Correlation Time (ATTALT7Y)
I- -.- 55CC - ,]Lz:- c Cv) ,' tE,. ,Eit,1=,'ct '-t_ .e - :.: the, +- 2c,'-x:- n.
5 , , = _ - L I 2.-:, < H j - > t ? t E a t c I,: c - u s-E . - c e . 1 _ ,1 .c r , c t
f ' >-c"- Z. . -- _ -n.-- _--,- , 7" --r--7J-C hE 1" >8':25. E T >?/ £- 582 c -] ; t:..5 F c- c-
t-- - T ' .-- - ---!&z: *----..7]- -. *:TIEuF E mI e n ;T ,. 4;1 - _ aT, cc In:-Er- c.
I
.. Varying Wave Height Flus Measurement Noise (ATTALT7Z)
' --- E I e t.-i C - -1 '- . - - Lt E -.--
}~ ~ z Z E , ." ] iE I.. w & - 0 -,[:r -[ -' ] lI_ "
.i t S ri e- L -E S 1- ' , -i-
f1K -- t. t - de - pioc th & .w
5 ~ - hI S SE :t nc! th-ese A7
cC: I E-- Ie- in a E 1Lt L_-U-EL the Cz- - --
.. . . & t ;F r - , L t E., o -C E
z e c tmt'
zaser wad E Est'.f:lor.
NETL1 C~ontrii:t NC:49--:
1 6.0. SIMPLIFIED MODEL FOR LONGER WAVES (ATTALT9)
C7 L;eIeE t1 tC o E W e jE I - 1EE f .. C h
* 1 dRCOh.~ e.e1tmEteJ
T, C, IC,
DcL%1 i P n2 z!f v, n co d J-s z o] - vy.,
or- 7 - c m c c - r n ,-i e: .f
I -r e ve ' 2 -T Frme
I ~ ~ ~ r a 1 -t t~ mi E<iV CE, eir .-1- tS
-tl e eslroe:tnr Q& lenth .etI h1)a--. ~ro Il- uOL_.~
7 I &'EE'2 t t~.~r C) r-
Laser Wave Estimation5NSTL Cortr:t W'(1', 8e-Cb0Freparea t : FSA inc., Wyneooo, FA
1 7.0. VARYING PULSE REPETITION RATE AND VARYING BEAM ROTATIONRATE
5 7 : re r. we T! :4. m: P- to ox7 I? 0r 0 oc "!7 e n : :r I f -,Z O
_L -1!Ee v~ t i un 5tE r; c tE~ c- .t j c 1
I Th1 - St ~ -oK- E. TO c:tor -f ATTALT8 to, iricre&.oe the-
>nJ~QE eoucc te £5.ded :' ~ - the E-rt-r :.r-. e- t 'fmct-:on
T -ic : L- c, rO u r- w, F rnot7 f i c:ao cc ATT ALT 8 toC :lrEF E5- ce0 'otier re1te V O ten V.lL - C-tl S Ee'cOtd
5a aet E Z, F - tr r h
ch - - er - C-r En or E.d e m.o ,Th tf :h E CT atEO ^
I-V I te hPT t ~7 1 F, rrte C-:O 7,P
~ MO
tef
it' E - 7 -- c -7i t n T, : o r r -oe t e - s 27,c ridE,
-G
1f~-- e -ar Ij- co .m t - : 4 -n ;-, -.- , c2r,t 4- iL; . Oe rff E t 7,: C
I t he d be: -emerrm,.-e:-e: ta iF r-t-e r to z) tl t r , -L n Et;a
oEi :on r- r-! E? t EEM &-, e Om irev Pe 2c4h t. iese nutlremut i
5F~h 'c 7- j ce V;a I-r ert-er- cStanrdJ- Oe . .E C) or cmY
mt,>. .z th - ~ ~ ndr c~~a~ r f the eo-tltiEt o wave
I~~ he: Cht e et -J thee rune :. re S ct~e - : 1= ',± *
5 cod e. 1 ee:. The :o'F 1L. muh :I f f E Irr tha r ,e b EC- n &
e Tem-i : 1 mete ' r t "I tOS .:t- ln S so &()e t5UrE M _ r. f
eI,?IF r ,F D,1 , i-ze c e
Laser Wave Estim.a~iorNSTL .ontract NX11-EIoCPrepared by: FSA In~c., W~nnewood, PA
ircre seI Z3L s- r te and beam r-otat ion rate does not
£i i IC- J1 1rrcv the es'timante of wae hei cjht.
8.0. CONCLUSIONS AND RECOMMENDATIONS
F cJr :5C1i on_--iit ions. whet-e ttne IEoser is the pr-ime t-ol1
n rcl j t c t-;t , renmoe-, a a.l 1 ovwL~ va te t ?n on nn1 En'rt . ar-d t he w ~E%
he _'i, h t h-as ae stancird de,,i t ion of abOLut Cj.7 mT&etr, it is c~li r
:-'hzt wa,.- riE-ichnt ca3n be aete-nillned to the ordcer of the CLFO
Cof tnIe 1~sieen.'~ metet-. RedJUCinq: the MeaSuremfent eftror'
~i m i .son r-t '.m-loo e the &.ccura&cy of the est imat4-e of wa .e he.: ght
umncier thes-=e conditions.
In thas-,aJ Ih5 1c w w &t er- E -,v i -r -rm e nt C accU r-ac-Y d Ezt e I-1 na t es
i-op 1d .7 fo C.1 -pie wEk. e sve. F-.ed:Uc mOC tne mea=Lureiment errtor WOUld
hv 1j bt t 1 SE' -rfE C.t UnderCz t t hes e cor d i t -.ons .
I n t -e =_g o ce:A n envir-o nm en t i t. ht 1 c)n o -- -a v e en ch s th e
C:ur-c C ' t , ave heioI-~t est i mati1-on7 de rt - see - s i cn1-f c a ntlv. I t
=hould be :rtdout trt.in th is lo7nq- i ,;ave case', the eirrotrs in
eucesEveest O~~VIOUlt be ,orelt -.velding & good Picturte
C' tneshp bf_'a cUt no0t it-= _ atSDLute ma or I t U 01=7.
I f t he G o _ T C L C acuaie = r- e _I--t ed i n t1h is t-r..o rt arI-e no t
mriuht tnee-yto esolor-e the int-rouc-tion of a
sitkb le rF-eerence. This maioht take the for-m of an aL~top i lt, an
-tt iturle Fkn.d Heodminc Refer-ene vte.or- ar accur~ate iner-tia1
t 'e rr. Fco th ,e - a s e . in e co n d it ion, soni if ic:anr;t i mpr o ve m en t
WOL ld oril-y cie obto - med t-v aiso r-educ in, jmea Surement error,.
It is !--eccmmc-ndedj that the eerlavenues for- impr-oved wave
nI Qh t 1 t ia t io Tr-lb e ful-I r-;E ttUd edc i n the light of Navy
Laser Wave EstimationNSTL ,ontrazt NO1-SCt3Prepare. Dy: FSA in:., Wynnewood, PA
I reqlienfer tS. Tine -r'D ' m i E E.lrcC 'zCmp: anep fLr-ther
I c -cL id £rp'3d , tine &, 1c:, aonE..
III
I
I
II
IT'
Laser WaVE EEt1mat~r.I NSTL C~tra~t N(PX:14-BE-~-oG31
Frepa"~c n~: F3~ ~ WY~rnewoo:, F~.II
FIGURES USED IN SECTIONS 1 TO 7
I£IIIII1IIIII
iLl
Laser Wave Estiaution5 yEW Cotract N00014-8-C-b031Preparec. by: PSA In:., Wvnnewooo, PA
I-5 x
1 w px
cocec
ae
3LL Xx
-- I
-J
I I NC£27 w
a w
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1Q1CLlA xxx
U-) AU-) n (U-' U -) A U) 'r 4 U )IC ) U) n) --4 U) 1) U)( ) )I - I-U r- -CU E- -CUJ CU - -I CU - -I CU --
((U U I riI I Ir (U CU
T-3WT X <- (fq)tpLwfjs
I15
2-30'T X <- UV8 - 813HI JO -IS3
U) U)) U)
I-
U)
CI)
CL
ICO
LLi
CD
IL
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CO
5XA-%7
C)
r- Cu ( zU - I
N*TL Cotat C0488C6
in ~ ~ ~ ~ ~ ~ ~ Peae by: F(U Inc. Wynwod PA~4U )U ~U )U 4I) )U UU
2-30T X <- 'OVd SIJd dO 'LSJ
U)~~ o If f i)i ) if)C4 Cq CU wU '4- I - S I
L-4
fr
cE -Vq
LA-~
a--
<r
(I)
j-u) n D o ; j W)L,> uI -Cu I- C r- u C I ( r- I 1I£4 4 C
2-0 < G8 v 10 'S
Lase N ,eEsiatoNC-,ntatW)048er6,
orpae by: FS n. yne ,P
Laser Wave EstiaationNSTL Cotract k)014-88-C-603":Prepared by: FS.; Inc., Wynrewooc. PA
x S
'C
'C g-'Cr
xC ',<
C-X, 'C s
or x
MC xIwr Hx *
I 'C'
:t 'CLxX
(U. * -' s--~x S. ' I- )
Y ''C
(.01 x LrI-x
'C
cr
-D x x
r 'C
x'T
C- u CU CU r I U U 'N 'N WI C
T-30T X <- -SdB3H3W - (PI)tfL4IS
4.I A 7~.k -
* -- __ _- __-
1) __ -___ _ _ _
-__ _ ____ __
Li
t* V ~ . -**. - -~ "7I ,- _____ .
. ----- 7 . --
* '. .
IF
* .
* .. *'
* -. . zI ~. .-- __---- .* __ ________ ___ ___
.4. *
* . . .
____________ ____________ _______________________ __ .AjI ____ * -\______~
I * . . . .
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___________ ___ ____ _ I-I . . \~*i -. -_- ~-------------. ___________-----. ~--- f~1~xr\I . -.
I . . .*..* - V.
1________________ )
I
I
I..............I. .~i.i.............Ii~i~i**i. .*.
-..-- 1--..-.... Ii I3 F IF~ ii,. IF 13~iuim
I
I-
....-.- . _P
I ~ ~- - - -~ - -
I --.-
I •_ _ - _
.. .. _ _ . . .. .. ...... .... _ _ _
I ' ' ' ' ' ... '"""°" "- 0 -*1
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37 ._ __ __-~-~------~---__ -_-
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__ ~ . __ ____ ____ __ AiK~7A.
I . . -. __ ___
*___ __ _ ___ ___I ___-_Z~iIc~I) _ ___ _____ .----. __
-4-
_________ ~ ~--.--- V _
I _--~.~- _
I K. . . . . __ _ __
I__ __- ~ ..- +--. ------. __ ___
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1I 7.
I _ __ _ _ _____
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.1 ... ~... . -
S .,,,.I.. .
I
I- .. ./ .
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U~, _~40 _3 -r - - -- --.-.-- ~-. ~----
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-~
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~I~IZXI. . -_. __ __zz __
_ _ __ _ __- ______________ -I. .~
__ ___ __ _____ ___ ____________________-~ .il~O~-t~-~ .77 .- -- ~ -~
1 ' . ~xr~ -~ .- - --- _-__ _______ I
~
I . . .
I _ ~._ __-
__-~--~ --.- ~ _ _- ___- -. _
- -- __ _ ___ _____3 1.'_- - - _--____
U ___ ______ ______________
I -- -_--.-.- -~ _
I _ . . - . .
3, _ _
...........................................
I I
Laser Wave EstimatlonNSTL Contra "' NW ' "4-82-LC-60:1
Prepared cf: FSA Inc.. Wynnewood, FriU3REFERENCES
F ."Rr .. 'F cur i e Lifear F-cre ]r-,
F , Opt i Fi1 t r Th 'r, ar, [_. -'or Anan y=E s olC [t r- i I S: 1. C ITi'". I E.[[_- T r-, tei-ri.7, t: i. c~r~ja I Coriy. R e c .,
I ".'o . _'. F'I I, A L, _1o-7 t.
f.. r- V u -d 1 r, r v.. , :ne Ho, Y. -C . Harva, d
U F j I I e. e (Ip 1ontic, I
t 1 a i a t i 1ilir.' vt i u r- arid Cc. ziti-oI . irrn an-d1o a- 7[: i 1]- 74.
L" L_-or Ei j 1er- . I r,c . AE Is, t nrij.cn L, i v. :I 6Q). " FC:rT l, i rE Fepr,-t For Loci heed F 7- C cr:raft.
[P ' -e d fc,: Loc-::heed-Califc,- r) ia. Durbar . D".
D E, a itenm 1o. -
o IE-rett Feneorch Labo-.Atr\ ].irc k 1.:- n r ,- jjrau-,c L)AR -,tem. " -F I.rared fTIr:3 &4[.A, W 1l I. ,Etr F: ioht Cer1tr- C ortr-c t 1o. N o-'' -2 .
i- c, F. Dl _-E EOC I "V-eB. June C77) "Model. -fo-
D t irr i L .- 'a i - v it- I Fr-reparecl or: l' o 1aIr-. c r ci 'a:ri C f f l,: . Locir iact [Jo. rtf, 4 .:,-- -".-C 7.
,. P 'rnrl- H. . L,. v , .m t ru Ip , 4Cl,
S -r r h LIF!- or tO -,., or nd F:cEiR . . L. C , iFi l S te : t] '2 P tq]) I if1 m I -- 1 Ir e! rI CA a d "r, a'=- I ", s I E
C~ Ec , -,,iri,,Le-EI D&E 7r"-4FD -eci-r-ical Note 2_4,J u~r e 1 ' '
F S L. F j ate-=. ,P HALS
I ; .u ~ a d Ll 1- f PF' D C:E S S O - . " F' e na r e d f o r : 14a a l
3 cEro grh f iE. CritraIct No. 14 607-, SC- C)C)41,:4 Ppi i 19 7'.
D-. 'rrne . H. J., MC G Develo p ment Group Navl13 Uceanoora i-,c Laboratory. (192 ). "HALS Post
F'rocr:sino Software De=ior,." NORDA Technical Note, 1.c'T 'LtEt o r 'z ". ep tembe r , 1982.3 lii~~~161, NP:TL Statiaon, 10 etrbr 92
I!I
NSTL Q~r tract x'14B--C I
Freoarea ty: FSIA ifc., .mryewood, PA
APPENDIX A.3 THE CANONICAL MODEL
r c in e e- to c, mp I0 c/ .te theory, and alCziC-)r 0ornS Or lDptimal
3y a1 t.n i -_ tr -h-ry ct e_ necsariY tot plar_ a pr-ob1em in 7k
i rI F r tor c a iecd T he La Dn c) ,: cE . Imo deI'. A brie- ocescli.pti.Dr
3 m o Tdg e 1 i-ycien net-p for- compl1eteness.
II tr(-e ser- u elI t he n ot &t oi OT n f eference- 1 is adopted.
'is c v the errmoidel 1s a_= :SL(umIe C. to, [D e? re t yd t'v tE-
I rs~t srlrd f~ot ia COL t ions
is=- a "li d ien'_ ional COlUmn "'state" -,ector-.
I(t sa I: k: " s,/s t e m ri, . wh 1c:h may v a r.it h t ie..
N r(t) a " k 'c ji.me n s ion al oiI UMi nVC-Cto o ' f w h ite no:,I E?n~putS cSuch that
3t nd E I t. )J
3- wre is the Dirac delta function
q(t1) i s a [I - .k; no)i se " fra t r
I n t he mide J.li1ng adlop tend h ere , the statle vector A include~_-s
3noi01-" ' ta -tes SUChI EaS lmr-Deasrment errors and errtor' sourtces.
'lost frequently, q is consta:nt and diagonal. the diaronal elemTents
3 einoi toe sing-le--ended powver- soectral dens].ty o'f the white noise
I 2 -4
.aser wa E Estimation
Ile~ae I y: FSA Inc., Wvnnewooc, PA
3neo~csar,, tc ur eatE? the mo Ec s t te ct r re cl - -: r-e c s ~r anrc:e.
mt taeT 1 .. r c i me c, r,5 ctEi -~ con 'i o r-are tca ern
3 ~~ d7d h CPEtc
N X " t.3 ~ ~~ ~ ht ~. n'~Lrre.±C I irflOFV Lher V. it
rFl ot F ;CE T r c- aI 1 C F t,711a1 t CuLAt _ a~i ILLfled to 1 aE Z:ek s1 crnt a FLIUE .
E c~2i - t i -, ,=if an-d -2can tne repre-cen-ted L-y the
m)u I t d: ren L-: o-, 1Ea. r. --- r- i ca 1 E.1.: Ic:; d w-1 ~ o tCi f f f C4 Lur t - ] n th
f Igur-e, . oJL E 1 1rME aIdacata t 1h e flo WCi f Ve Ct 0 q LanitaIt IeE dr
3(a tL;r a , c ~oe - mI EL V t h ei.r- ~e ct c f npute- S rort the !E-t
T r Pe ota1 i r 1tar ao zstriotnjnc mronIleT se to oLttir a
I Leuc e' rr imata the sta--te vtr baseo on tnc~se
an~ ~ cFt a'~zine m atra i ( P -0
m _l e E. T~~1 t sE -e r f or n e c Es D r s ze I fv
IA M
I {X.A Mt X +
3 Y(td) -m (ti) X (t )
F Er-r E, A T-1 HE C AlH10hlIICAL MODEL
LaSer h6avE EStIffiatiorNSTL Con r'az t NOQOI 4-GE-C-6C3Fr'epareo t.. FS 1,c.. Wvnnewo, FA
APPENDIX B.
U THE P3C MODEL
Uhe? d 1 t~ e~Er-t iz? E cns f or t he F-C E rcra-rt molOtonfl eout
Z3 t 1 to 1 in Etraht ar- : lev f : I gh t jcc otcne a f rm
F Sm rc: c. l t :on It :o 15- a~c zCs. &o a~S r )St C 0 E>
e z:; CEET.m t i ec 1h ~ ts E, 1 r, Ca! a n e t. E It ro-r Ceo Z- C-t .~ r
rnoment 1 tLt;-;e- is-e~J ~e The reacier 1 referreei to the
refce-,-.e ftoy aef inat acan :o-f terms.. No eff4rzcts Co Control5 LWr&Ce, WC--le 1MC lUced: however, addijtaonai sta-ces vwe-e adoied as
s-ovjrl in rleure as-l e' foiOWS:
=bias an mitch eather crLe to thtrim of
3 the ;:-Ek rc r a - t sn--, or -,mi -aalac r, ri;,met
o,= b i E, 3-n rol c a 1 ,ther coL' to trim of thce
a 1 ra'I t a -dlo r m a1cin menrtc.
WL =W;i E-]-Cjht CILES M _.=U Ir:,mc-nt error
3 ~ditaa.the Cvsr ~ s arid fe. -DUfE:O, Wete mo-cel led a
r1~->cfar eom vrees.Teres=Ultirno linear --,ifferen t i a
3 :OL'Stifl Of da-Mensior 15 is sJhown in FILUre B1
3 ecor-espomcdane st&-te -vector "V amd the "A" Fmeltra" are
sho n :rFiOUr-E B-2. The "q" matrir, as ce-faned b-,,:
q Ci~l / T T~jL~t
I 7 ,C L
Laser ave E'saima:iorNST'L : otract NOCI 4-89-C-b(271U Preca-ec t.,: ESA Inc., W;RnewQoC. PA
AItad h ea ion ret h v Eiv "0 t lu 0. '. 0 0 &-c 0.02,C
0, 0 E 'SI~lVE 1 21
U - t - i r, i r- - t- a m1 e~x t E:2 t- s .1 + L .t- t h cL)ose1 ,F F 73F lit te v ae r.. n ?LfCJ cat-EP 7- Al r t5 &-C Mthe-. baszli nE r -,
3 DOiIS2Ve~n aur T. P11u isar iees.FZ SEtF
.aser Wave EstimaionNSTL Conva:t N014-8E-C-6031Preparec by: FSA Inc., Wynnewood, PA
U. = Uo u- - ,*
I -I. i-7 ( + ,- _Ut ) + (1 + q / Uo ) q + Z U / U
|0. = M U S t + Mq q + MU U
- 4 U S Q tEI -- / gUSt + j N oL., E t
d=pIL
I14. ' =
0
vi N- + iLc,.t ) + Np p + N,.- r
0
3u -- . r U 0)- + oc p r
15 UL~ U- + UL
I
F I: r 9 .t S, I 1 A L F!:U A T1 S
IFigure E-I. P3C DIFFEREN4T IAL EOUATOPNSI
323
Laser Wave EstimationNSTL Contract tI.)14-8B-C-6031Prepared by: FSA Inc., WjnrEw,zc:d, PA
C) ) U U
z CZ (1Z/UO) ZW
q 0 ~ HwU rirU q IOU 0 -
a gLS t Q) T
X 0 :
r ()o C) C) C
P ( C) C) Q
13 0
OD)0 C) (
C) ):~ 0
X U C)U: x w 0
6 7 8 12 13 14 15
C). C) C- 0 ) . 20) 0 0 0
) -) ( -I (1 I (D (9 (9 U
0 C) i 0 C ( (9 o
(I (-9 C. I. (9 U'. (9 (-
o ) ( 9 ( 1 I ,N I p , 1 3 130 (j(
o (9 ) L 1 . L 0 3L i: o 0
9 0/U0 ( Y I I 0 1 Yp/ o Y 3 1U T I3 U o/ y ) C
( (9 (OI ( f C 1 /T1 3 0 9
(9~~~ U9 (9 U90U( 9 1-*
(9 (. (* ). (. U (9 0 (9 XU
10 I 12 13 14 15
2
- u0 Zu / Uc -
(9 ( U 0 () u
U o 0i 0 ( 9
I (9 (9 o- U ). 7
,ry- ) O (U B
1p 13 J3
'p ~ j3I IUo "j3] IU ° )3) ,19 U II
C C1 - 1 / U 1 12
C)-- 13
(9 (9 -U1 I' " 14
C) llIl ] U. X L) 4 1TL) 15
/
Laser Wage EstimationNSTL Contract N00014-BE-C-60C1Preparea by: FSA Inc., Wynnewooc, PA
U
1. LI 92.7 meterssecond
U - I. 053(:)
3. Z Q -9. 6)66I U -0. 1904
M -0. 01 03I Mq -I. 5122
M U -0. 00C22
0.13" Crust 0.02
N f 1.6394
9. Np -0.01 64Nr -... 3728
L13 -1. 422A
10. Lp -2.2236
LA 5. 753c?
12..1 . YP 1.. 0464No- 4.0('933
I12. logust 0'.1i
M -:9us=t 0.0:2
I J. 4. w0.0OC1U -005w €-). 3o
.,.!.Li --) "0A152'
it. xw 0.046, 7T U - 0. 0440-
Units: Time = SecondsDistan,,-ce --- MI=etes,
3 Anoles = Radians
FIGURE B-7. FC PARAMETERS FOR BASELINE MODEL
AC-% 'on:ra:t N:R)l*-,4-86-L-b'V'32F--ea tv: F&', 'nz., Wnewooc. PA
APPENDIX C.
RELATIONSHIPS BETWEEN ERRORS IN VERTICAL,
ALTITUDE AND WAVE HEIGHT
I .y 1 e,~.c C a .r!, ILvlin c t r-E ve I i or, n i sr te tweer-
U ~~~ Qb tveer the bE.&mr and t -e '1 xI
3'QI!- C-1 S IMPLE IA F-Ar1FE-F LASDEF:
d c~ c - R s A cl d dH
d~c~~ = H + H tan A iA
3 '~hil WEr~ ~ o~,10oter the gErrcr in e st i (rt 1 n cl
a ~ V E - - F c~osEE a) nd errco. in i l1ti t~dE and the ve-tic.,l.
To co-it nu.mnters to th isE relet-ionsh iz E SSrne
3H 5)C' M g--teE
A= 5. RC1cFia 15 o e i r e s
3 Trien
dF R s A d dH +1T d
I7
Laser Wa' E Sz:IstlonNST.L Contra:t WIX14-88--bK.1'reoarec b..; FSA inc., W.nnevoo:, PA3 It f o1ow- th at if ve heicht e-ror i C.1 ete-, then dH
p ILU I: d"A TU E t ad d Lip t o. 1 t e!-'. Lrles. te-e. are r i y
3 ccr-re- e. :this p 1 cE that dH is the o-er of C). 1 Meter ar-d
d A ] e o c:e : 2. t rr, in LeS C, T 4C.
IIIIIIUIIIIIII
I