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AUV闭环系统可辨识性分析及算法实现
Alternative TitleAnalysis for closed loop identifiability of AUV and algorithm implementation
孙东江; 李硕
Department水下机器人研究室
Source Publication微计算机信息
ISSN1008-0570
2008
Volume24Issue:14Pages:225-227
Indexed ByCSCD
CSCD IDCSCD:3299475
Contribution Rank1
Funding Organization中国科学院创新基金(03F6060601)
Keyword水下机器人 增广kalman滤波 闭环辨识 可辨识性
Abstract针对水下机器人闭环系统辨识问题,应用闭环系统辨识理论,本文给出了水下机器人闭环系统可辨识的充分条件。运用增广的Kalman滤波算法对某水下机器人进行闭环辨识,获得了该系统模型。验证了所提出充分条件的正确性及算法的可行性。
Other AbstractFor the application of closed loop identification theory to Autonomous Underwater Vehicle (AUV), the sufficient condition of closed loop identifiability of AUV is put forward. An AUV model is identified by Extensive Kalman Filter (EKF). The validity of the condition and the feasibility of the algorithm are proved.
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/3502
Collection水下机器人研究室
Corresponding Author孙东江
Affiliation1.沈阳市中国科学院沈阳自动化研究所
2.中国科学院研究生院
Recommended Citation
GB/T 7714
孙东江,李硕. AUV闭环系统可辨识性分析及算法实现[J]. 微计算机信息,2008,24(14):225-227.
APA 孙东江,&李硕.(2008).AUV闭环系统可辨识性分析及算法实现.微计算机信息,24(14),225-227.
MLA 孙东江,et al."AUV闭环系统可辨识性分析及算法实现".微计算机信息 24.14(2008):225-227.
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