Non-linear Observer Design for Ship Based on Covariance fitting for square-root cubature Kalman Filter

被引：0
|
作者：
Lin, Xiaogong [1 ]
Liu, Zhiyu [1 ]
机构：
[1] Harbin Engn Univ, Automat Dept, Harbin 150001, Peoples R China
来源：
2019 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA) | 2019年
关键词：
Dynamic positioning; nonlinear observer; cubature kalman filter; Covariance fitting;
D O I：
10.1109/icma.2019.8816239
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 square-roots Kalman filter nonlinear observer in view of covariance fitting is proposed for the data adaptive problem of square-roots Kalman filter. Based on the Kalman filter, the covariance fitting for square-roots cubature Kalman filter and the square-roots cubature Kalman filter is introduced. In addition, this algorithm is applied to the non-linear observer of ship's dynamic positioning system. The analysis of simulation result prove the validity of the covariance fitting for square-root cubature Kalman filter.
引用
收藏
页码：354 / 359
页数：6
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