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Experimental Validation of Ellipsoidal Techniques for State Estimation in Marine Applications

  • 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.

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Author:Andreas RauhORCiDGND, Yohann GourretORCiD, Katell LagattuORCiD, Bernardo HummesORCiD, Luc JaulinORCiD, Johannes ReuterORCiD, Stefan WirtensohnORCiD, Patrick HoherORCiD
Parent Title (English):Algorithms
Document Type:Article
Year of Publication:2022
Release Date:2022/09/15
Tag:State and disturbance estimation; Uncertainty modeling; Bounded uncertainty; Ellipsoidal enclosures
Page Number:23
Article Number:162
Corresponding author: Andreas Rauh
Institutes:Institut für Systemdynamik - ISD
Open Access?:Ja
Relevance:Peer reviewed Publikation in Master Journal List
Licence (German):License LogoCreative Commons - CC BY - Namensnennung 4.0 International