Modelling and estimation of ocean wave induced error in pressure measurement
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Underwater vehicles use pressure sensors to measure depth. These measurements are subjected to noise from ocean waves. To reduce the impact of the wave induced noise, an estimator algorithm is applied to the measurements. This algorithm relies on mathematical models that describe the noise dynamics. Since waves are oscillatory, the modeled wave noise is as well. The wave frequency must be estimated for this process. A model was developed that estimated the wave frequency in addition to the wave noise. The model was inputted data from simulated and real measurements. The estimates were compared to those of an established estimator model. Before parameter tuning, the oscillatory model provided slightly more accurate depth estimates than the field tested model, but struggled with estimating the frequency. With some tuning, the model was able to estimate the wave frequency accurately and as a consequence the depth estimates were more accurate.