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Abstract

The invention concerns a method and a device for estimating the shape of an acoustic trailing antenna (12), wherein the shape is estimated using Kalman filtering. In the process, the deterministic part (u(k_i)) of the equation of state of the Kalman-Filters is initially set to zero. In addition, successive discrete points in time (k_i) are predefined and at each predefined point in time (k_i), an estimated shape of the trailing antenna (12) is described by a model-based state vector (x(k_i)). Here, the model-based state vectors (x(k_i)) are determined by the estimated time behavior of a mechanical model (24) of the trailing antenna (12) and by the movements of a pull point (16) of the trailing antenna (12) assumed to be known. The deviation of the respective current model-based state vector (x(k_i)) is determined for one or more previous model-based state vectors (x(k_i-1)), regarded as a current matrix ({tilde over (F)}(k_i)) and the current transition matrix (F(k_i)) is regularly updated for the Kalman filtering using the matrices ({tilde over (F)}(k_i)) determined.

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