The invention discloses a centrosymmetric multi-cell Kalman filtering AUV (Autonomous Underwater Vehicle) speed estimation method based on a T-N-L structure. Firstly, a state space model of the autonomous underwater robot is obtained through identification according to experimental data, then a reachable set of the state of the AUV system is predicted and corrected by combining the property of a centrosymmetric polytope and the idea of Kalman filtering, the speed interval of the autonomous underwater robot is calculated through the corrected reachable set of the system, and effective monitoring of the speed of the autonomous underwater robot is achieved. The method is suitable for autonomous underwater robots of various configurations and motion conditions, compared with the prior art, the systematic and effective speed estimation method is provided, the adopted method can generate a more accurate speed estimation value and a more compact speed estimation interval, and the speed estimation accuracy is improved. The accuracy of speed state monitoring is improved, and the overall reliability and stability of an underwater robot system are remarkably enhanced by ensuring that behaviors of the robot in a complex underwater environment are more stable and predictable.
本发明公开了一种基于T‑N‑L结构的中心对称多胞体卡尔曼滤波AUV速度估计方法。首先根据实验数据辨识得到自主式水下机器人的状态空间模型,然后结合中心对称多胞体的性质和卡尔曼滤波的思想,预测并校正AUV系统状态的可达集,通过系统的校正可达集计算自主式水下机器人的速度区间,实现对其速度的有效监测。该方法适用于各种构型和运动条件的自主式水下机器人,与现有技术相比,本发明提供了一种系统有效的速度估计方法,本发明所采用的方法能够生成更为精确的速度估计值及其更为紧凑的速度估计区间,不仅提高了速度状态监测的精确度,而且通过确保机器人在复杂水下环境中的行为更加稳定和可预测,显著增强了水下机器人系统的整体可靠性和稳定性。
Centrosymmetric multi-cell Kalman filtering AUV speed estimation method based on T-N-L structure
一种基于T-N-L结构的中心对称多胞体卡尔曼滤波AUV速度估计方法
08.04.2025
Patent
Elektronische Ressource
Chinesisch
IPC: | B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen |
AUV speed estimation method based on centrosymmetric multi-cell Kalman filter
Europäisches Patentamt | 2025
|Multi-model train operation speed estimation method based on high-order Kalman filtering
Europäisches Patentamt | 2024
|Vehicle speed estimation method and system based on unscented Kalman filtering
Europäisches Patentamt | 2020
|Estimation Methods Based on Kalman Filtering
Wiley | 2012
|Driving wheel longitudinal force estimation method based on wheel speed Kalman filtering-LESO
Europäisches Patentamt | 2025
|