AUV Positioning and Motion Parameter Identification Based on Observations with Random Delays

被引：0

作者：

Bosov, A. V. ^{[1
]}

机构：

[1] Russian Acad Sci, Fed Res Ctr Comp Sci & Control, Moscow, Russia

来源：

AUTOMATION AND REMOTE CONTROL | 2024年 / 85卷 / 12期

关键词：

nonlinear stochastic observation system; parameter identification; observations with random delays; conditionally minimax nonlinear filter; positioning; acoustic sensors; linear pseudomeasurements; STATE; SYSTEM; SPEED; SOUND;

D O I：

10.1134/S0005117924700413

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A stochastic observation system model with random time delays between an arriving observation and the factual state of a moving object is adapted to identify its motion parameters. Equations for optimal Bayesian identification are given. A conditionally minimax nonlinear filter (CMNF) is applied to solve the problem in practice. The design procedure of the CMNF, including the choice of the filter structure, is discussed in detail on an example of autonomous underwater vehicle (AUV) positioning based on observations of stationary acoustic beacons. A computational experiment is carried out on a model close to practical needs using three variants of the filter, namely, the typical approximation of the updating process, the method of linear pseudomeasurements, and the geometric interpretation of angular measurements.

引用

页码：1024 / 1040

页数：17

共 50 条

[1] Parameter Identification of AUV Motion Model Based on NARX Steady-State Response
Guo, Xiaojun
Huang, Zhiping
Su, Shaojing
2022 INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM 2022), 2022, : 552 - 555
[2] 'Parameter identification of nonlinear rolling motion in random seas'
Haddara, M.R.
Wu, X.
International Shipbuilding Progress, 1993, 40 (423) : 247 - 260
[3] Maneuvering Object Tracking and Movement Parameters Identification by Indirect Observations with Random Delays
Bosov, Alexey
AXIOMS, 2024, 13 (10)
[4] ACCURATE LOCALIZATION OF AUV IN MOTION BY EXPLICIT SOLUTION USING TIME DELAYS
Jia, Tianyi
Ho, K. C.
Wang, Haiyan
Shen, Xiaohong
2020 IEEE INTERNATIONAL CONFERENCE ON ACOUSTICS, SPEECH, AND SIGNAL PROCESSING, 2020, : 4871 - 4875
[5] Parametric identification of AUV's maneuvering motion based on support vector machines
Xu, Feng
Zou, Zao-Jian
Song, Xin
Chuan Bo Li Xue/Journal of Ship Mechanics, 2011, 15 (09): : 981 - 987
[6] Vision-based Localization and Positioning of an AUV
Figueiredo, Andre B.
Ferreira, Bruno M.
Matos, Anibal C.
OCEANS 2016 - SHANGHAI, 2016,
[7] Motion parameter estimation of AUV based on underwater acoustic Doppler frequency measured by single hydrophone
Rong, Shaowei
Xu, Yifeng
FRONTIERS IN MARINE SCIENCE, 2022, 9
[8] Underwater Sensor Network Positioning Using an AUV Moving on a Random Waypoint Path
Zandi, Rahman
Kamarei, Mahmoud
Amiri, Hadi
Yaghoubi, Forough
IETE JOURNAL OF RESEARCH, 2015, 61 (06) : 693 - 698
[9] Positioning Method for an AUV in Arctic Seawater Based on Polarization
Tang, Bo
Chen, Qiang
IEEE ANTENNAS AND WIRELESS PROPAGATION LETTERS, 2019, 18 (01): : 177 - 181
[10] Load modeling and parameter identification based on random fuzziness clustering
Liu, L. (liuluhhs@126.com), 1600, Automation of Electric Power Systems Press (37):

← 1 2 3 4 5 →