Paper Title :State Estimation Based on Unscented Kalman Filter for Underwater Vehicle Dynamics
Author :Minami Morita, Tomoaki Hashimoto
Article Citation :Minami Morita ,Tomoaki Hashimoto ,
(2024 ) " State Estimation Based on Unscented Kalman Filter for Underwater Vehicle Dynamics " ,
International Journal of Mechanical and Production Engineering (IJMPE) ,
pp. 23-28,
Volume-12,Issue-9
Abstract : Autonomous underwater vehicles are useful for investigating environmental condition under rivers, lakes, ponds,
seas. The wide range of applications of underwater vehicles might motivate researchers to study control system design
problems for autonomous underwater vehicles. In general, all the state variables of control systems are not precisely known,
because those variables are observed through output sensors and limited parts of them might be only measurable. Hence,
automatic control systems must incorporate some type of state estimation. It is needed to establish a state estimation method
for underwater vehicle dynamics with restricted measurable state variables. For this purpose, unscented Kalman filter
method is applied in this study for estimating the state variables of underwater vehicle dynamics. The objective of this paper
is to propose a state estimation method using unscented Kalman filter for underwater vehicle dynamics. The effectiveness of
the proposed method is verified by numerical simulations.
Keywords - State Estimation, Observer Systems, Unscented Kalman Filter
Type : Research paper
Published : Volume-12,Issue-9
Copyright: © Institute of Research and Journals
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Published on 2025-01-14 |
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