The robust estimation of ship speed by Kalman filter

A good estimation of ship speed is a requirement but the signals used for estimation of ship speed
such as GPS signals and measurements of water flow are very noisy or biased. This report shall
investigate how to combine and filter data from several sources in order to more accurately estimate
a ship speed. Main method for this purpose is Kalman filter.

Esitmation of velocity of ship throug ground with time interval “t’