摘要
针对无人艇自主航行过程中因航速和装载变化导致操纵性模型参数变化的问题,提出了一种基于最小二乘算法的无人艇操纵性模型参数辨识方法。为提高算法的辨识精度,引入多新息理论,提出一种多新息最小二乘的参数辨识方法。基于Matlab/Simulink仿真平台构建仿真环境,对无人艇操纵性模型进行参数辨识仿真。仿真结果表明,多新息最小二乘算法的辨识性能优于最小二乘算法。
Aiming at the problem that maneuverability model parameters of the unmanned surface vehicle(USV)change due to the changes of speed and loading during the autonomous navigation,this paper proposes a parameter identification method of USV maneuverability model based on the least squares.In order to improve the identification accuracy of the algorithm,the multi-innovation theory is introduced,and a multi-innovation least squares parameter identification method is proposed.Based on Matlab/Simulink simulation platform,a simulation environment is constructed to simulate the parameter identification of the USV maneuverability model,and the simulation results show that the identification performance of the multi-innovation least squares is superior to that of the least squares algorithm.
作者
陈凯翔
徐成午
方国龙
CHEN Kaixiang;XU Chengwu;FANG Guolong(The 8th Research Academy of CSSC,Yangzhou 225101,China)
出处
《舰船电子对抗》
2025年第6期52-56,共5页
Shipboard Electronic Countermeasure
关键词
无人艇操纵性模型
递归最小二乘法
多新息理论
maneuverability model of unmanned surface vehicle
recursive least squares
multi-innovation theory
