Application: pLamssBearingTracker

Brief Synopsis:

Stabilized bearing tracker for embedded use on UUVs with acoustic arrays.

Authors:

  • Andrew Poulsen
  • Henrik Schmidt

Groups:

Dependencies:

Distribution:

  • lamss.mit.edu

Contact Email:

  • henrik@mit.edu

Function:

GobyMOOSApp conversion of the original MOOSApp pBearingTracker implementing the stabilized bearing tracker developed by Andrew Poulsen and Jack Ianiello. Monitors the beam-time records (BTR) produced by the embedded beamformer pLamssCBF and detects, localizes and tracks the strongest target in beam space. Works in concert with a suite of pHelmIvP behaviors for breaking array ambiguity and optimize tracking performance through dedicated platform maneuvers. The resulting bearing tracks are published in Contact Reports published to the MOOSDB and transmitted to the topside operators via a Goby-protobuf message. The contact report is also used by the next link in the processing chain, pGeoTracker.

Lines of Code:

  • 1,231 (with libraries: 9,845)

Files of Code:

  • 2 (with libraries: 49)

Work Years:

  • 0.25 (with libraries: 2.16)