An ocean current estimation system and estimation method
An ocean current, estimated value technology, applied in general control systems, control/regulation systems, instruments, etc., can solve the estimation loop and control loop limitation of practical application, difficult to estimate and measure, rely on open-loop maneuverability of marine vehicles test, etc.
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[0104] Example: such as figure 2 Shown: Schematic diagram of the specific implementation in the ocean current estimation system: the sensor is responsible for collecting the actual coordinate information x(t), y(t) and yaw angle ψ(t) of the marine vehicle in the earth coordinates, and the marine vehicle in the hull coordinate system The surge velocity u(t) and sway velocity υ(t) of .
[0105] The x-axis direction signal passes through the comparator, the x-axis predictor, and the x-axis adaptive iterative update unit to obtain the component of the estimated value of the ocean current in the x-axis direction The specific steps are: the x-axis actual coordinate information x(t) is compared with the x-axis coordinate estimation information output by the x-axis predictor Do the comparison to get the estimated error The collected yaw angle ψ(t) signal is multiplied by the surge velocity u(t) and the sway velocity υ(t) after sin-cosine transformation, and the obtained result i...
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