Title:
ADAPTIVE ROBUST ESTIMATION METHOD AND SYSTEM FOR UNMANNED SURFACE VESSEL PARAMETERS
Document Type and Number:
WIPO Patent Application WO/2023/236247
Kind Code:
A1
Abstract:
The present invention relates to the field of automatic control. Disclosed is an adaptive robust estimation method and system for unmanned surface vessel parameters. The method comprises: firstly, constructing an augmented state estimation problem of an unmanned surface vessel considering external disturbance, an augmented state vector comprising an unmanned surface vessel state vector, a parameter vector, and an unknown input vector; then on the basis of a real-time input vector and a measurement vector of a system, obtaining unmanned surface vessel model parameters by using a designed adaptive robust unscented Kalman filtering method; specifically, considering that the state of an unmanned surface vessel system may be interfered by outlier noise, designing a robust Kalman filtering method on the basis of a maximum cross entropy criterion and a minimum mean square error criterion; and considering that the statistical characteristics of process noise of the unmanned surface vessel system are unknown and the system state dimensionality is relatively high, introducing an adaptive law accurate estimation process noise covariance matrix constrained by a process noise covariance matrix. Simulation results show that the present invention improves the estimation precision of the unmanned surface vessel model parameters is improved.
Inventors:
WEN GUANGHUI (CN)
SHEN HAN (CN)
ZHOU JUN (CN)
WANG LINAN (CN)
NIU MENGFEI (CN)
SHEN HAN (CN)
ZHOU JUN (CN)
WANG LINAN (CN)
NIU MENGFEI (CN)
Application Number:
PCT/CN2022/100107
Publication Date:
December 14, 2023
Filing Date:
June 21, 2022
Export Citation:
Assignee:
UNIV SOUTHEAST (CN)
International Classes:
G06F30/20; H03H21/00
Domestic Patent References:
| WO2020050084A1 | 2020-03-12 |
Foreign References:
| CN112432644A | 2021-03-02 | |||
| CN113670314A | 2021-11-19 | |||
| CN110487275A | 2019-11-22 | |||
| CN110908395A | 2020-03-24 | |||
| CN112525218A | 2021-03-19 | |||
| CN113792411A | 2021-12-14 | |||
| CN105785999A | 2016-07-20 | |||
| CN109345875A | 2019-02-15 |
Attorney, Agent or Firm:
NANJING SUGAO PATENT AND TRADEMARK FIRM ( ORDINARY PARTNERSHIP ) (CN)
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