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论文:2012,Vol:30,Issue(5):699-705 |
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引用本文： |
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Zhao Jiang, Yan Weisheng, Jin Xuelian, Gao Jian. Identification of an Underactuated Unmanned Surface Vehicle[J]. 西北工业大学 |
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. [J]. Northwestern polytechnical university |
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| Identification of an Underactuated Unmanned Surface Vehicle |
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| Zhao Jiang, Yan Weisheng, Jin Xuelian, Gao Jian |
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| College of Marine Engineering,Northwestern Polytechnical University,Xi'an 710072,China |
| 摘要: |
| Hydrodynamic coefficients strongly affect the dynamic performance of underactuated unmanned surface vehicle (USV).Towing tank test is the traditional approach to identify these coefficients,however, the obtained values are not completely reliable since experimental difficulties and errors are involved.In this paper,an extended Kalman filter (EKF) method and a least squares (LS) method are proposed,only using onboard sensor data for identification of a small underactuated USV.The vehicle prototype as well as the system integration is delineated.Performance of the identification is evaluated by comparing the estimated coefficients,and the feasibility and accuracy of the proposed approach is demonstrated by simulation. |
| 关键词:
Computer simulation
Computer software
Errors
Estimation
Experiments
Hydrodynamics
Identification (control systems)
Kalman filters
Least squares approximations
Mathematical models
Measurement errors
Sensors;Extended Kalman filter
Underactuated unmanned surface vehicle
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| Abstract: |
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| 收稿日期: 2011-10-28
修回日期:
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| 作者简介: Zhao Jiang(1984-)，Ph．D．Candidate，North western Polytechnical University
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参考文献: |
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