Optimal position and velocity estimation for multi-USV positioning systems with range measurements
type: Item
instance of: scholarly article
title: Optimal position and velocity estimation for multi-USV positioning systems with range measurements
zbMATH Open document ID: 1398.93321
DOI: 10.1155/2018/5452723
author: Wei Chen
author: Weisheng Yan
author: Rui-sheng Sun
published in: Complexity
publication date: 2018-10-04T00:00:00Z
review text: Summary: This paper investigates the problem on simultaneously estimating the velocity and position of the target for range-based multi-USV positioning systems. According to the range measurement and kinematics model of the target, we formulate this problem in a mixed linear/nonlinear discrete-time system. In this system, the input and state represent the velocity and position of the target, respectively. We divide the system into two components and propose a three-step minimum variance unbiased Simultaneous Input and State Estimation (SISE) algorithm. First, we estimate the velocity in the local level plane and predict the corresponding position. Then, we estimate the velocity in the heave direction. Finally, we estimate the 3-dimensional (3D) velocity and position. We establish the unbiased conditions of the input and state estimation for the MLBL system. Simulation results illustrate the effectiveness of the problem formulation and demonstrate the performance of the proposed algorithm.
Mathematics Subject Classification ID: 93E10
Mathematics Subject Classification ID: 93E20
Mathematics Subject Classification ID: 93C55
Mathematics Subject Classification ID: 93C95
zbMATH DE Number: 6946948
zbMATH Keywords: optimal position
zbMATH Keywords: velocity estimation
zbMATH Keywords: multi-USV positioning systems
zbMATH Keywords: mixed linear/nonlinear discrete-time system
zbMATH Keywords: simultaneous input and state estimation (SISE) algorithm
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2018/5452723
OpenAlex ID: W2881634655
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description: scientific article; zbMATH DE number 6946948