TY  - JOUR
U1  - Zeitschriftenartikel, wissenschaftlich - begutachtet (reviewed)
A1  - Rauh, Andreas
A1  - Gourret, Yohann
A1  - Lagattu, Katell
A1  - Hummes, Bernardo
A1  - Jaulin, Luc
A1  - Reuter, Johannes
A1  - Wirtensohn, Stefan
A1  - Hoher, Patrick
T1  - Experimental Validation of Ellipsoidal Techniques for State Estimation in Marine Applications
JF  - Algorithms
N2  - A reliable quantification of the worst-case influence of model uncertainty and external disturbances is crucial for the localization of vessels in marine applications. This is especially true if uncertain GPS-based position measurements are used to update predicted vessel locations that are obtained from the evaluation of a ship’s state equation. To reflect real-life working conditions, these state equations need to account for uncertainty in the system model, such as imperfect actuation and external disturbances due to effects such as wind and currents. As an application scenario, the GPS-based localization of autonomous DDboat robots is considered in this paper. Using experimental data, the efficiency of an ellipsoidal approach, which exploits a bounded-error representation of disturbances and uncertainties, is demonstrated.
KW  - State and disturbance estimation
KW  - Uncertainty modeling
KW  - Bounded uncertainty
KW  - Ellipsoidal enclosures
Y1  - 2022
SN  - 1999-4893
SS  - 1999-4893
U6  - https://doi.org/10.3390/a15050162
DO  - https://doi.org/10.3390/a15050162
N1  - Corresponding author: Andreas Rauh
VL  - 15
IS  - 5
SP  - 23
S1  - 23
PB  - MDPI
ER  -