Motion estimation of an autonomous surface craft using an unscented Kalman filter

Author

Wirtensohn, Stefan ; Schuster, Martin ; Oswald, Markus ; Reuter, Johannes

Author_Institution

Fac. of Electr. Eng., Univ. of Appl. Sci. Konstanz, Konstanz, Germany

fYear

2014

fDate

16-19 June 2014

Firstpage

493

Lastpage

498

Abstract

This paper addresses the problem of navigation algorithms in the context of high accuracy motion control for a unmanned surface crafts. The effectiveness of an unscented Kalman filter algorithm in combination with a detailed nonlinear 3DOF dynamical model for motion estimation is shown. Water currents are regarded as slowly varying parameters estimated by the filter which has been augmented by two states for that purpose. The performance is demonstrated by comparing two control tasks in a real world environment with and without motion filtering.

Keywords

Kalman filters; marine control; mobile robots; motion control; motion estimation; nonlinear filters; path planning; robot dynamics; telerobotics; autonomous surface craft; high accuracy motion control; motion estimation; navigation algorithms; nonlinear 3DOF dynamical model; parameter estimation; slowly varying parameters; unmanned surface crafts; unscented Kalman filter; unscented Kalman filter algorithm; water currents; Equations; Global Positioning System; Kalman filters; Mathematical model; Propellers; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Automation (MED), 2014 22nd Mediterranean Conference of

Conference_Location

Palermo

Print_ISBN

978-1-4799-5900-6

Type

conf

DOI

10.1109/MED.2014.6961421

Filename

6961421