Ship parameter identification method based on particle filtering

A technology of parameter identification and particle filtering, applied in the field of ship parameter identification, can solve problems such as high cost, high time consumption and inaccuracy

Active Publication Date: 2015-10-28
HARBIN ENG UNIV
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  • Application Information

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Problems solved by technology

Ship parameters can be obtained through actual measurement or theoretical estimation. The former often requires the help of special instruments, which is

Method used

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  • Ship parameter identification method based on particle filtering
  • Ship parameter identification method based on particle filtering
  • Ship parameter identification method based on particle filtering

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0164] Experiments are conducted through an underwater unmanned vehicle ODIN. ODIN (Omni-directional Intel ligent Navigator) is an unmanned underwater vehicle with 6 degrees of freedom developed by the University of Hawaii.

[0165] The submersible vehicle has symmetry, that is, the hull has a uniform mass distribution.

[0166] 1) Parameter identification when ODIN rotates around a vertical line

[0167] Through the propeller, the ODIN can rotate around the vertical line on the horizontal plane, which can ignore the heave, pitch and roll motions. At the same time, the additional mass introduced by fluid dynamics is considered, and the influence of ocean wave interference is considered. Under the above conditions, the discretization model of ODIN is derived.

[0168] r k = r k - 1 + Δ τ p + r k - 1 N r + r k - 1 | r k - 1 | N r | r | I z + n s , k - 1 - - -...

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Abstract

The invention belongs to the field of ship parameter identification and particularly relates to a ship parameter identification method, which can be used for estimating unknown parameters in a ship time domain state space model, based on particle filtering. According to the ship parameter identification method, a force and a moment are applied to a ship by using executing mechanisms such as a propeller, a rudder and the like of the ship, so that the ship takes special exercise; displacement and attitude angle information of the ship at each discrete sampling moment is measured under geodesic coordinates by using a measuring system, and is an output observation value of the ship; a ship parameter estimation value at each moment is obtained by identifying the ship by using a ship parameter estimation device according to a state estimation value and the output observation value of the ship; and state values, namely an angular speed value and a linear speed value of the ship under the geodesic coordinates, of the ship are estimated by using a particle filter according to stress information at each moment and a parameter value which is identified at the previous moment. According to the ship parameter identification method based on particle filtering provided by the invention, observed data does not need to be processed in batches and a lot of iteration does not need to be carried out, and the filtering precision is very high; and the calculation is simple and the execution efficiency is high.

Description

Technical field [0001] The invention belongs to the field of ship parameter identification, and specifically is a particle filter-based ship parameter identification method that can be used for the estimation of unknown parameters in the ship time-domain state space model. Background technique [0002] The attitude control of a ship during sailing is a complicated problem. The ship has 6 degrees of freedom, the motion equation of the ship is highly nonlinear, and the hydrodynamic coefficients are coupled with each other; at the same time, the ship is disturbed by uncertain ocean currents, waves, wind, etc. during navigation, and the actuator has hysteresis , This has caused great difficulties in the control of ships. In order to accurately control the ship, it is generally necessary to establish an accurate ship model, and further need to identify ship parameters including hydrodynamic coefficients to reduce the uncertainty of control. Ship parameters can be obtained through ac...

Claims

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Application Information

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IPC IPC(8): G06F19/00
Inventor 陈虹丽陈雨薇夏晓靖龚洛宋景慧沈丹宋东辉王子元
Owner HARBIN ENG UNIV
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