水下机器人动力定位中的海流及不平衡力估计

The Estimation of Current and Imbalance Force on a DPS-Controlled Underwater Robot

提出了一种基于Kalman滤波的海流、不平衡力估计方法 ;同时应用了机理建模和神经网络建模的混合建模方法 ,用神经网络修正运动模型 ,有效地保证了滤波估计的准确性 .并给出了仿真实验结果 .

This paper presented a method based on Kalman filter to estimate current and imbalance force. Meanwhile, a union modeling method which was integrated with theory model and neural network model was applied to guarantee the accuracy of estimation under the help of neural network model_revising. And the simulation results were given.