Estimation of AUV dynamics for sensor fusion

K. M. Fauske, F. Gustafsson, Øyvind Hegrenæs
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引用次数: 31

Abstract

This paper presents a method for identifying dynamic models of autonomous underwater vehicles (AUV) from logged data and a physically motivated model structure. Such models are instrumental for model-based control system design, but also for integrated navigation systems. We motive our work from the perspective of developing second generation integrated navigation systems, which use a sensor fusion approach to merge external information with a dynamic model for purposes of redundancy, integrity, and for fault detection and isolation.
基于传感器融合的水下航行器动力学估计
本文提出了一种基于测井数据和物理驱动模型结构的自主水下航行器(AUV)动态模型识别方法。这些模型不仅对基于模型的控制系统设计有用,而且对综合导航系统也有用。我们从开发第二代集成导航系统的角度出发,该系统使用传感器融合方法将外部信息与动态模型合并,以实现冗余、完整性以及故障检测和隔离。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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