基于扩展Kalman滤波器的气垫艇操纵运动模型参数辨识研究

Research on hovercraft manipulation motion model parameter identification based on extend Kalman filter

气垫艇运动模型是气垫艇操纵模拟训练系统的关键,如何获取准确的模型参数,建立符合真实运动规律的模型成为急需突破的难题。文中介绍系统辨识原理,并推导EKF辨识非线性模型参数的公式,建立气垫艇三自由度操纵运动分离型模型。在此基础上,运用扩展的Kalman滤波器(EKF),对分离型模型中的部分未知流体动力参数进行辨识。仿真试验结果表明,应用EKF辨识气垫艇三自由度MMG模型参数,将辨识得到的参数与仿真模型的参数进行对比,试验结果验证了基于EKF方法的可行性。

The motion model of the hovercraft is the key for the simulation training system of the hovercraft manipulation.How to obtain the accurate model parameters and establish the model in line with the real motion law becomes a problem that needs to be solved urgently.The principle of system identification is introduced,by which the formula of nonlinear model parameters with EKF(extend Kalman filter)identification is deduced.The three⁃degree⁃of⁃freedom manipulation motion separation model of hovercraft is established.On this basis,the EKF is applied to identify some unknown hydrodynamic parameters in the separation model.The simulation experiment results show that the EKF are applied to identify the parameters of the three⁃degree⁃of⁃freedom MMG model of the hovercraft,and the identified parameters are compared with those of the simulation model.The experimental results verified the feasibility of the method based on EKF.