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Research on Under-actuated Ship States Estimation Using Algorithm Singular Value Decomposition UKF Based on Acceleration
Ma YL(马玉龙); Han JD(韩建达); Zhao YW(赵忆文); He YQ(何玉庆)
Department机器人学研究室
Conference Name2011 International Conference on Mechanical Materials and Manufacturing Engineering, ICMMME 2011
Conference DateJune 20-22, 2011
Conference PlaceNanchang, China
Author of SourceUniversity of Kentucky Lexington
Source PublicationApplied Mechanics and Materials
PublisherTrans Tech Publications
Publication PlaceClausthal-Zellerfeld, Germany
2011
Pages1374-1379
Indexed ByEI ; CPCI(ISTP)
EI Accession number20113214223422
WOS IDWOS:000309941600255
Contribution Rank1
ISSN1662-7482
ISBN978-3-03785-185-2
KeywordSvdukf Acceleration State Estimation Reference Equation Under-actuated Ship
AbstractTo estimate the states and uncertainty of the under-actuated ship, the paper proposed a modified UKF algorithm-Singular Value Decomposition UKF based on acceleration, which simplifies the system reference equation, reduces the calculation complexity and increases the accuracy of the algorithm. The accuracy and calculation complexity of the algorithm are analyzed in detai1. Numeric simulation demonstrates the effectiveness of the algorithm.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/8858
Collection机器人学研究室
Affiliation1.Graduate School of the Chinese Academy of Sciences, Beijing, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, CAS, Nanta Street 114, Shenyang, China
Recommended Citation
GB/T 7714
Ma YL,Han JD,Zhao YW,et al. Research on Under-actuated Ship States Estimation Using Algorithm Singular Value Decomposition UKF Based on Acceleration[C]//University of Kentucky Lexington. Clausthal-Zellerfeld, Germany:Trans Tech Publications,2011:1374-1379.
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