线性伪测量过用于通过随机延迟的观测跟踪移动的水下目标
1Federal Research Center "Computer Science and Control" of the Russian Academy of Sciences, 44/2 Vavilova Str., 119333 Moscow, Russia.
Sensors (Basel, Switzerland)
|June 27, 2025
概括
这项研究引入了一种新的线性伪测量过器,用于跟踪随机时间延迟和复杂错误分布的移动物体. 过器在随机观测系统中提高了状态估计的准确性.
科学领域:
- 机器人和控制系统 机器人和控制系统
- 信号处理 信号处理
- 估计理论估计理论
背景情况:
- 随机观测系统通常涉及随机时间延迟和复杂的测量误差分布.
- 对移动物体进行准确的状态估计在自主导航等应用中至关重要.
- 现有的过器可能会与多重错误依赖性和对错误分布的先前知识有限而扎.
研究的目的:
- 适应线性伪测量过器用于随机时间延迟的随机观测系统.
- 开发一种能够处理测量错误的过器,具有有限的分布知识和乘法状态依赖.
- 在动态和不确定的条件下应用波器来跟踪自动水下车辆 (AUV).
主要方法:
- 该研究适应了线性伪测量过器,以考虑观察中的随机时间延迟.
- 观测模型包含了未知分布的测量误差 (由前两个时刻定义) 和对物体状态的乘法依赖.
- 使用来自多个独立复合体的方向角度和距离测量,以及处理车辆速度干扰的技术.
主要成果:
- 调整后的过器可以有效地估计移动物体的状态,尽管存在随机时间延迟和复杂的错误特征.
- 过器成功处理了来自独立来源的方向和距离测量.
- 实际应用表明,在速度干扰的情况下,自动水下车辆的跟踪功能强大.
结论:
- 拟议的线性伪测量过器为随机系统中的状态估计提供了强大的解决方案,具有时间延迟和复杂错误.
- 该方法有效地用于在具有挑战性的操作环境中跟踪自动水下车辆.
- 这种方法在现实世界的动态系统中推进了估计理论的能力.
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