摘要
针对无人船在水面垃圾清理时的问题,重点调研了无人船的动态定位与追踪技术,提出了基于无先导UKF的无人船定位方法,并通过仿真与实验论证了本方法的有效性。
Aiming at the problems of unmanned ships cleaning up garbage on the water surface,the kinematic positioning and tracking technology of unmanned ships are emphatically investigated.A pilotless UKF based unmanned ship positioning method is proposed,and its effectiveness is demonstrated by simulation and experiments.
作者
谢开鑫
肖怀前
袁聪
王晨煜
王成军
张霖
XIE Kaixin;XIAO Huaiqian;YUAN Cong;WANG Chenyu;WANG Chengjun;ZHANG Lin(School of Artificial Intelligence,Anhui University of Science and Technology,Huainan 232001,China;Jiangsu Huaishu Xin River Management Office,Huai’an 223005,China;School of Robotics Engineering,Changjiang Normal University,Chongqing 408100,China;Petro China Southwest Oil and Gasfield Company,Chongqing 408100,China)
出处
《江苏水利》
2023年第5期43-47,共5页
Jiangsu Water Resources
基金
江苏水利科研项目(2018031)。
关键词
无人船艇
智能控制
无人控制
卡尔曼滤波
unmanned ship
intelligent control
unmanned control
Kalman Filter
