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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) NumberCN102795323A
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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File name: CN201110137339.2.pdf
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