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Alternative TitleUnscented Kalman filter (UKF)-based underwater robot state and parameter joint estimation method
刘开周; 程大军; 李一平; 封锡盛
Rights Holder中国科学院沈阳自动化研究所
Patent Agent沈阳科苑专利商标代理有限公司 21002
Other AbstractThe invention discloses an unscented Kalman filter (UKF)-based underwater robot state and parameter joint estimation method. According to the method, expansion reference models of an underwater robot are established, and comprise a kinetic model of the underwater robot and a fault model of a propeller. According to pose information detected by a position sensor, the expansion reference models are subjected to on-line joint estimation through states of the underwater robot, including pose and speed, and propeller fault parameters by a UKF algorithm, and the speed information of the underwater robot and the propeller fault information are estimated in real time. The method has a high real-time property, and the states and parameters of a system can be subjected to joint estimation; and under the condition that prior information of process noise and measurement noise is known, high estimation accuracy can be achieved by the method.
PCT Attributes
Application Date2011-05-25
Date Available2015-03-11
Application NumberCN201110137339.2
Open (Notice) NumberCN102795323B
Contribution Rank1
Document Type专利
Recommended Citation
GB/T 7714
刘开周,程大军,李一平,等. 一种基于UKF的水下机器人状态和参数联合估计方法[P]. 2012-11-28.
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