MANSEE data analysis results

Results of the data reduction and analysis for the Marine Navigation Systems Evaluation Experiment (MANSEE) are presented. Topics discussed include: the MANSEE test; the navigation sensors which were exercised; the ground truth instrumentation and the processing of ground truth data; and the residual statistics for individual navigation sensors. Residuals were calculated by differencing the actual measurements with anticipated measurements computed from the ground truth trajectory. The results obtained by using the SEAMAP program to filter data from the navigation sensors are also presented. The resultant filtered trajectories were differenced with the corresponding ground truth trajectories to obtain navigation position and velocity errors.