USV Parameter Estimation: Adaptive Unscented Kalman Filter-Based Approach
Han Shen, Guanghui Wen, Yuezu Lv, Jun Zhou, Linan Wang
Abstract
In this article, a new kind of adaptive unscented Kalman filter is proposed to deal with the parameter estimation problem for a class of nonlinear unmanned surface vessel (USV) models with unknown statistical characteristics of process noises. Specifically, the considered parameter estimation problem is first transformed into the state estimation problem by extending 18 parameters and 3 unknown inputs into augmented states for the USVs. With the help of such a transformation, the unknown inputs including disturbances and modeling errors are estimated effectively, and employed to construct the estimators such that the effect of these unknown inputs on parameter estimation can be significantly suppressed. Under the condition that the structure of the covariance matrix of the process noise is available, an adaptive law is further designed to estimate such a high-dimensional covariance matrix where the covariance estimation errors can be reduced. Finally, the proposed estimation approach is verified via performing the practical experiment as well as numerical simulations.