The invention discloses an AUV speed estimation method based on a centrosymmetric multi-cell Kalman filter, and the method comprises the steps: carrying out the systematic analysis of a state space model of an autonomous underwater robot, calculating and optimizing a reachable set of the system state of the underwater robot through combining the property of a centrosymmetric multi-cell body and the thought of Kalman filtering, and carrying out the calculation of the reachable set of the system state of the underwater robot. The speed interval of the underwater robot is calculated through the optimal reachable set, and the speed of the underwater robot is effectively monitored. The method is suitable for autonomous underwater robots of various configurations and different motion states, and compared with the prior art, the method provided by the invention not only can accurately estimate the speed of the underwater robot, but also can provide interval estimation of the speed, so that the effective monitoring of the speed state is realized, and the reliability of the underwater robot is improved. And the reliability and the stability of the autonomous underwater robot are obviously improved.

    本发明公开了一种基于中心对称多胞体卡尔曼滤波器的AUV速度估计方法,首先对自主式水下机器人的状态空间模型进行系统性的分析,然后结合中心对称多胞体的性质和卡尔曼滤波的思想,计算并优化水下机器人系统状态的可达集,通过最优可达集计算水下机器人的速度区间,实现对其速度的有效监测。该方法适用于多种构型和不同运动状态的自主式水下机器人,与现有技术相比,本发明所提方法不仅可以准确地估算出水下机器人的速度,还能提供速度的区间估计,从而实现了对速度状态的有效监测,显著提高了自主式水下机器人的可靠性和稳定性。


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    Titel :

    AUV speed estimation method based on centrosymmetric multi-cell Kalman filter


    Weitere Titelangaben:

    一种基于中心对称多胞体卡尔曼滤波器的AUV速度估计方法


    Beteiligte:
    LEE KIL-DO (Autor:in) / LIU YUXI (Autor:in) / FENG JING'AO (Autor:in) / WANG YUJIA (Autor:in) / LIU XING (Autor:in) / YAO FENG (Autor:in)

    Erscheinungsdatum :

    08.04.2025


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    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



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