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Combined identification method for UUV hydrodynamic parameters based on variance compensating Kalman method and limited memory least square method

A limited-memory and least-squares technology, applied in the field of combined identification of UUV hydrodynamic parameters, can solve the problem of low accuracy of stability identification results, and achieve the effects of improving convergence speed, eliminating data saturation, and improving robustness.

Active Publication Date: 2016-08-10
HARBIN ENG UNIV
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Problems solved by technology

[0004] The purpose of the present invention is to solve the problem of low stability of the traditional hydrodynamic parameter identification method and the low accuracy of the identification result. The present invention provides a combination of variance compensation Kalman and limited memory least squares for UUV hydrodynamic parameters. Identification method

Method used

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  • Combined identification method for UUV hydrodynamic parameters based on variance compensating Kalman method and limited memory least square method
  • Combined identification method for UUV hydrodynamic parameters based on variance compensating Kalman method and limited memory least square method
  • Combined identification method for UUV hydrodynamic parameters based on variance compensating Kalman method and limited memory least square method

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Embodiment Construction

[0026] combine Figure 1 to Figure 6 To illustrate this embodiment, the combined identification method of UUV hydrodynamic parameters based on variance compensated Kalman and limited memory least squares described in this embodiment includes the following steps:

[0027] Step 1: UUV movement involves six degrees of freedom. In order to facilitate identification, its movement is divided into three degrees of freedom for the fixed depth plane and the vertical plane, and the observation data to be collected is determined according to the derived motion equation, and then the required The hydrodynamic parameter a in the identification equation 1 …a 5 b 1 …b 7 c 1 …c 9 .

[0028] Depth-fixed plane equation of motion:

[0029]

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[0037]

[0038] according to figure 1 It can be seen from the illustrations of the fixed coordinate system of the earth and the UUV motion coordinate system: ...

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Abstract

The invention discloses a combined identification method for UUV hydrodynamic parameters based on a variance compensating Kalman method and a limited memory least square method, and relates to the combined identification method for the UUV hydrodynamic parameters. In order to solve the problems of poor stability and low identification result accuracy existing in the conventional hydrodynamic parameter identification method, the method comprises the steps of carrying out the depth-keeping planer face movement and vertical face movement of the UUV and collecting the observation data; preliminarily identifying the observation data by the variance compensating Kalman method to acquire the preliminary identification parameter values; making the parameter values as the initial values of the limited memory least square method to carry our secondary identification on the acquired observation data to obtain the UUV hydrodynamic parameters; implementing the spiral diving or spiral rising simulation movement according to the hydrodynamic parameters, comparing the obtained track with an actual sailing track of the UUV and verifying the obtained track, and using the accurate parameters after the verification as the UUV hydrodynamic parameters. The method is used for determining the movement equation model of the UUV.

Description

technical field [0001] The invention relates to a combined identification method of UUV hydrodynamic parameters, in particular to a combined identification method of UUV hydrodynamic parameters based on variance compensation Kalman and limited memory least squares. Background technique [0002] At present, countries are paying more and more attention to maritime territories. In recent years, China has increased its attention and investment in ocean development and ocean strategy year by year. Ocean development and protection of maritime territorial rights and interests are no longer just slogans. To do good deeds, the public must first sharpen their weapons, and to protect their rights and interests, they must have effective marine equipment. Due to the MH370 plane crash and the vigorous search and rescue of the U.S. Navy's Bluefin Tuna-21 underwater unmanned vehicle (UUV), the important military and strategic significance of underwater unmanned vehicles has been revealed, a...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/50
CPCG06F30/20
Inventor 张伟张吉楠滕彦斌孙希勋高立峰李娟严浙平
Owner HARBIN ENG UNIV
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