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Title: On-line state and parameter estimation of an under-actuated underwater vehicle using a modified dual unscented kalman filter
Authors: Karras, George C.
Kyriakopoulos, Kostas J.
Loizou, Savvas 
Keywords: Algorithms;Computer vision;Linear control systems;Submersibles
Issue Date: 2010
Publisher: IEEE
Source: 23rd IEEE/RSJ International Conference on Intelligent Robots and Systems IROS, 2010, Taipei, Taiwan
Abstract: This paper presents a novel modification of the Dual Unscented Kalman Filter (DUKF) for the on-line concurrent state and parameter estimation. The developed algorithm is successfully applied to an under-actuated underwater vehicle. Like in the case of conventional DUKF the proposed algorithm demonstrates quick convergence of the parameter vector. In addition, experimental results indicate an increased performance when the proposed methodology is utilized. The applicability and performance of the proposed algorithm is experimentally verified by combining the proposed DUKF with a non-linear controller on a modified Videoray ROV in a test tank. The on-line estimation of the vehicle states and dynamic parameters is achieved by fusing data from a Laser Vision System (LVS) and an Inertial Measurement Unit (IMU).
ISSN: 21530858
DOI: 10.1109/IROS.2010.5648831
Rights: ©2010 IEEE
Type: Conference Papers
Appears in Collections:Δημοσιεύσεις σε συνέδρια/Conference papers

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