Optimal Position and Velocity Estimation for Multi-USV Positioning Systems with Range Measurements
Joint Authors
Sun, Rui-sheng
Yan, Weisheng
Chen, Wei
Source
Issue
Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2018-07-10
Country of Publication
Egypt
No. of Pages
12
Main Subjects
Abstract EN
This paper investigates the problem on simultaneously estimating the velocity and position of the target for range-based multi-USV positioning systems.
According to the range measurement and kinematics model of the target, we formulate this problem in a mixed linear/nonlinear discrete-time system.
In this system, the input and state represent the velocity and position of the target, respectively.
We divide the system into two components and propose a three-step minimum variance unbiased simultaneous input and state estimation (SISE) algorithm.
First, we estimate the velocity in the local level plane and predict the corresponding position.
Then, we estimate the velocity in the heave direction.
Finally, we estimate the 3-dimensional (3D) velocity and position.
We establish the unbiased conditions of the input and state estimation for the MLBL system.
Simulation results illustrate the effectiveness of the problem formulation and demonstrate the performance of the proposed algorithm.
American Psychological Association (APA)
Chen, Wei& Sun, Rui-sheng & Yan, Weisheng. 2018. Optimal Position and Velocity Estimation for Multi-USV Positioning Systems with Range Measurements. Complexity،Vol. 2018, no. 2018, pp.1-12.
https://search.emarefa.net/detail/BIM-1134693
Modern Language Association (MLA)
Chen, Wei…[et al.]. Optimal Position and Velocity Estimation for Multi-USV Positioning Systems with Range Measurements. Complexity No. 2018 (2018), pp.1-12.
https://search.emarefa.net/detail/BIM-1134693
American Medical Association (AMA)
Chen, Wei& Sun, Rui-sheng & Yan, Weisheng. Optimal Position and Velocity Estimation for Multi-USV Positioning Systems with Range Measurements. Complexity. 2018. Vol. 2018, no. 2018, pp.1-12.
https://search.emarefa.net/detail/BIM-1134693
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1134693