Online parameter identification and real-time manoeuvring prediction for a water-jet USV based on weighted multi-innovation prediction error method integrated with dynamic window strategy

IF 4.3 2区 工程技术 Q1 ENGINEERING, OCEAN Applied Ocean Research Pub Date : 2024-10-11 DOI:10.1016/j.apor.2024.104260
Zaopeng Dong , Baolin Wang , Fei Tan , Wenjie Zhou , Yuanchang Liu
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Abstract

Research on online parameter identification and real-time manoeuvring prediction for a class of water-jet unmanned surface vehicle (USV) is carried out in this paper. Utilizing actual sailing data from a water-jet USV, the weighted multi-innovation prediction error method integrated with dynamic window strategy is proposed to identify the manoeuvring parameters of the USV model online. Subsequently, real-time prediction of the water-jet USV's motion is achieved based on the established time-varying model. The thrust generation of water-jet propulsion system and the effect of rotational current on the USV's motion are analyzed simultaneously, and then a three-degree-of-freedom mathematical model is established for the water-jet USV equipped with two water-jet propulsion systems. Due to the weakening of the correction ability of the prediction error method in the later stage, an adaptive step factor with phase adjustment is designed to improve the response accuracy to the error innovation and maintain the algorithm's correction ability. Since the prediction error method updates the identification value using only a single innovation each time, incorporating multi-innovation theory enhances the utilization of historical data, allowing the algorithm to more accurately reflect the current state or trend. In order to fully consider the differences between data points, an adaptive weighting strategy is developed to assign weights according to the contribution of the data in the innovation window to USV modeling, so as to enhance the tracking performance of the time-varying parameters. Aiming at the outliers in the collected data, a dynamic innovation window strategy is designed, and then the data in this window is filtered by Quartile algorithm and the outliers are detected by local outlier factor, so that the window could contain more effective sailing state information. A large amount of actual test data analysis demonstrates that, the algorithm proposed in this paper could achieve more accurate online identification of water-jet USV model parameters and more precise real-time prediction of USV motion, which would provide strong support for safe navigation and efficient control of USV.
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基于动态窗口策略的加权多创新预测误差法的喷水式 USV 在线参数识别和实时操纵预测
本文对一类喷水式无人水面航行器(USV)进行了在线参数识别和实时操纵预测研究。利用喷水式无人水面航行器的实际航行数据,提出了加权多创新预测误差法与动态窗口策略相结合的方法,在线识别无人水面航行器模型的操纵参数。随后,基于建立的时变模型,实现了喷水式 USV 运动的实时预测。同时分析了喷水推进系统产生的推力和旋转电流对 USV 运动的影响,然后建立了配备两个喷水推进系统的喷水 USV 的三自由度数学模型。由于后期预测误差法的修正能力减弱,设计了一种带有相位调整的自适应阶跃因子,以提高对误差创新的响应精度并保持算法的修正能力。由于预测误差法每次更新识别值时只使用一次创新,因此结合多创新理论可以提高对历史数据的利用率,使算法更准确地反映当前状态或趋势。为了充分考虑数据点之间的差异,开发了一种自适应加权策略,根据创新窗口中的数据对 USV 建模的贡献来分配权重,从而提高时变参数的跟踪性能。针对采集数据中的离群值,设计了动态创新窗口策略,然后利用四分位算法对该窗口中的数据进行过滤,并利用局部离群因子对离群值进行检测,从而使该窗口包含更多有效的航行状态信息。大量实际测试数据分析表明,本文提出的算法可以实现更准确的喷水式 USV 模型参数在线识别和更精确的 USV 运动实时预测,为 USV 的安全航行和高效控制提供有力支持。
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来源期刊
Applied Ocean Research
Applied Ocean Research 地学-工程:大洋
CiteScore
8.70
自引率
7.00%
发文量
316
审稿时长
59 days
期刊介绍: The aim of Applied Ocean Research is to encourage the submission of papers that advance the state of knowledge in a range of topics relevant to ocean engineering.
期刊最新文献
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