AUV闭环系统可辨识性分析及算法实现

Analysis for closed loop identifiability of AUV and algorithm implementation

针对水下机器人闭环系统辨识问题,应用闭环系统辨识理论,本文给出了水下机器人闭环系统可辨识的充分条件。运用增广的Kalman滤波算法对某水下机器人进行闭环辨识,获得了该系统模型。验证了所提出充分条件的正确性及算法的可行性。

For the application of closed loop identification theory to Autonomous Underwater Vehicle （AUV）, the sufficient condition of closed loop identifiability of AUV is put forward, An AUV model is identified by Extensive Kalman Filter （EKF）. The validity of the condition and the feasibility of the algorithm are proved.