Application of LS and EKF techniques to the identification of underwater vehicles
Application of LS and EKF techniques to the identification of underwater vehicles
复制标题
LS和EKF技术在水下航行器识别中的应用
DOI：
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发表时间：
1998
期刊：
影响因子：
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通讯作者：
G. Veruggio
中科院分区：
文献类型：
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作者：
A. Alessandri;M. Caccia;G. Indiveri;G. Veruggio
考虑了海洋应用的开放式框架水下航行器的建模和识别。这项工作的目标是证明，小型水下航行器的建模和识别是可行的，成本低：识别已完成，只使用标准的机载设备。首先，选择一个模型，这样的车辆进行了讨论，以及一个合适的识别方法。所选模型的参数识别分两步进行：基于最小二乘（LS）和扩展卡尔曼滤波（EKF）技术。应用到实验数据的识别结果，并进行了讨论。
The modelling and identification of an open-frame underwater vehicle for marine applications is considered. The goal of this work is to demonstrate that modelling and identification of small underwater vehicles is feasible at low cost: the identification has been accomplished using only standard on-board devices. First, the selection of a model for such vehicles is discussed, as well as a suitable identification method. The parameters of the selected model are identified in two steps: based on least squares (LS) and extended Kalman filter (EKF) techniques. The results of the identification applied to experimental data are presented and discussed.