An Estimation Algorithm for Soil Parameters for Air-Cushion Vehicles

Abstract

Abstract: By taking advantage of the additional degree of control freedom for vertical force, a new estimation algorithm, the hybrid g-EKF algorithm, was proposed for air-cushion vehicles. In g-EKF, the g-function solves the multi-solution problem, and the extended Kalman filter (EKF) improves estimation accuracy by decreasing measurement uncertainties. Its advantages are demonstrated in two experiments, namely, estimation accuracy for different noise levels and stability in repeated tests.

Key words: soil parameter estimation, g-EKF algorithm, air-cushion vehicle, state noise, measurement noise

CLC Number:

U461.5

XU Shuo, YU Fan, LUO Zhe, Pham D T, JI Ze. An Estimation Algorithm for Soil Parameters for Air-Cushion Vehicles[J]. Journal of Shanghai Jiaotong University, 2011, 45(04): 451-456.

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