TY  - CHAP
U1  - Konferenzveröffentlichung
A1  - Wirtensohn, Stefan
A1  - Wenzl, Hanna
A1  - Tietz, Thomas
A1  - Reuter, Johannes
T1  - Parameter identification and validation analysis for a small USV
T2  - 2015 20th International Conference on Methods and Models in Automation and Robotics (MMAR),  24-27 August 2015,  Miedzyzdroje, Poland
N2  - In this paper a manoeuvre based identification process and parameter analysis of a small unmanned surface vehicle (USV) is described. The objective is to identify unknown hydrodynamic and propulsion parameters in one step by means of a series of different manoeuvres. Methods on the basis of the Fisher information matrix are used for the quality analysis of the parameter estimates. Furthermore, a process for reduction of parameters is deployed. It is also shown that no thrust force measurements are required and the complete parameter set can be considered concurrently, avoiding the risk of suboptimal results when using a sequential approach.
Y1  - 2015
SN  - 978-1-4799-8701-6
SB  - 978-1-4799-8701-6
U6  - https://doi.org/10.1109/MMAR.2015.7283960
DO  - https://doi.org/10.1109/MMAR.2015.7283960
SP  - 701
EP  - 706
PB  - IEEE
ER  -