Underwater vehicle lateral velocity 
estimation algorithm

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Journal of Dalian Maritime University ›› 2013, Vol. 39 ›› Issue (4) : 38-41.

Original Paper

Underwater vehicle lateral velocity  estimation algorithm

LUAN Lu-yu, ZHU Hai, XU Jian-feng

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Abstract

In order to obtain lateral velocity information while maintaining concealment, an estimation algorithm of lateral velocity is presented. This algorithm is designed based on extended states observer and hydrodynamic equation. The algorithm estimates lateral velocity with the other sailing states data which can be observed independently. And then, the recurrent sequences forecast method is used to modify estimation value in order to restrain the disadvantage influence of sensor measurement error. Based on actual data, simulation results show that the estimation algorithm of lateral velocity can estimate lateral velocity independently, which achieve preferable estimation precision.

Key words

underwater vehicle / lateral velocity / estimation algorithm / hydrodynamic equation / extended states observer / recurrent sequences forecast

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LUAN Lu-yu, ZHU Hai, XU Jian-feng. Underwater vehicle lateral velocity  estimation algorithm[J]. Journal of Dalian Maritime University. 2013, 39(4): 38-41

References

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