Istituto di Studi sui Sistemi Intelligenti per l'Automazione     
Alessandri A., Caccia M., Indiveri G., Veruggio G. Application of LS and EKF techniques to the identification of underwater vehicles. In: IEEE International Conference on Control Applications (Trieste, Italy, 1-4 September 1998). Proceedings, vol. 2 pp. 1084 - 1088. IEEE, 1998.
The modelling and identification of an open-frame underwater vehicle for marine applications is considered. The goal of this work is to demonstrate that modelling and identification of small underwater vehicles is feasible at low cost: the identification has been accomplished using only standard on-board devices. First, the selection of a model for such vehicles is discussed, as well as a suitable identification method. The parameters of the selected model are identified in two steps: based on least squares (LS) and extended Kalman filter (EKF) techniques. The results of the identification applied to experimental data are presented and discussed.
DOI: 10.1109/CCA.1998.721624
Subject Kalman filters
least squares approximations
underwater vehicles

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