Adaptive identification on the group of rigid-body rotations and its application to underwater vehicle navigation
Adaptive identification on the group of rigid-body rotations and its application to underwater vehicle navigation
复制标题
DOI：
10.1109/tro.2006.886829
复制
发表时间：
2007-02-01
影响因子：
7.8
通讯作者：
Whitcomb, Louis L.
中科院分区：
文献类型：
--
作者：
Kinsey, James C.;Whitcomb, Louis L.
本文报道了一种新的稳定的自适应识别器的刚体旋转组，其应用于水下航行器导航中出现的传感器校准问题。所解决的问题是识别一个未知的刚体旋转映射的输入输出数据。一般的最小二乘（LS）和自适应识别技术通常用于识别一般的线性映射从输入输出数据，但不保证所得到的识别的地图是一个刚体旋转。目前，LS奇异值分解方法是刚体转动群约束辨识的标准方法。本文报道了第一个精确的自适应识别器的刚体旋转组，以及渐近稳定性的证明。综述了水下航行器的导航技术，提出了多普勒校准问题。采用已报道的自适应辨识器解决了这一问题，并在实验室和现场实验数据上对该自适应辨识器的性能进行了评估。本文报道的结果与通过先前报道的LS技术获得的结果相比是有利的。本文报道的方法可能是更广泛的兴趣，因为它的适用性更一般的问题，在识别，动力学和控制组的刚体运动。
This paper reports a novel stable adaptive identifier on the group of rigid-body rotations, and its application to a sensor-calibration problem arising in underwater vehicle navigation. The problem addressed is the identification of an unknown rigid-body rotation map from input-output data. General least-squares (LS) and adaptive identification techniques are commonly employed to identify general linear maps from input-output data, but do not guarantee that the resulting identified map is a rigid-body rotation. At present, an LS singular value decomposition approach is the standard method for identification constrained to the group of rigid-body rotations. This paper reports the first exact adaptive identifier on the group of rigid-body rotations, together with a proof of asymptotic stability. Techniques for navigating underwater vehicles are reviewed, and the Doppler-alignment calibration problem is posed. The reported adaptive identifier is employed to solve this problem, and performance of this adaptive identifier is evaluated on both laboratory and field experimental data. The results reported herein compare favorably with results obtained via previously reported LS techniques. The methodology reported herein may be of broader interest because of its applicability to more general problems in the identification, dynamics, and control on the group of rigid-body motions.