公开(公告)号：US20240380389A1

公开(公告)日：2024-11-14

申请号：US18249500

申请日：2022-06-21

Applicant: SOUTHEAST UNIVERSITY

Inventor： Guanghui WEN ,  Han SHEN ,  Jun ZHOU ,  Linan WANG ,  Mengfei NIU

IPC: H03H21/00

Abstract: An adaptive robust estimation method and system for parameters of an unmanned surface vessel belongs to the field of automatic control. First, an augmented state estimation problem considering an external disturbance for the unmanned surface vessel is constructed; augmented state vectors include a state vector of the unmanned surface vessel, a parameter vector, and an unknown input vector; and then, depending on a real-time input vector and a measurement vector of a system, a designed adaptive robust unscented Kalman filtering method is employed to obtain model parameters of the unmanned surface vessel.